Uterine Wall Thickness Sensing for Robotic Manipulator Positioning
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Solution Overview
Problem
Existing robotic surgical systems face challenges in accurately positioning and orienting the uterus during procedures like hysterectomy, often requiring clear communication between clinicians, which can lead to inconsistencies and potential damage due to improper positioning.
Innovation Solution
A robotic uterine manipulator system that includes a uterine manipulator with a colpotomy cup and inflatable balloons, controlled by a robotic arm, to precisely position and orient the uterus, and integrated sensors to measure uterine wall thickness and prevent over-insertion, ensuring accurate and consistent positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robotic uterine manipulator system with integrated sensors is used, then measurement precision of uterine wall thickness is improved, but device complexity increases
Solution Approach 1:
The patent integrates multiple sensor elements (first proximity sensor element on the robotic instrument, second proximity sensor element on the uterine manipulator) within the robotic system architecture. These nested sensor components work together to measure uterine wall thickness without requiring external separate measurement devices, thus improving measurement precision while containing complexity within the system.
Solution Approach 2:
The patent replaces traditional mechanical measurement methods with proximity sensor elements that use electromagnetic fields to measure distances and uterine wall thickness. This substitution of mechanical systems with sensor-based systems improves measurement precision and reduces the mechanical complexity of the overall device.
2Ease of operation
If single-user control is implemented, then ease of operation is improved, but reliability may worsen due to lack of communication verification
Solution Approach 1:
The patent incorporates proximity sensor elements that provide real-time feedback to the control system about the position of the uterine manipulator and the distance to the uterus. This feedback mechanism allows the single operator to receive continuous information about instrument positioning, ensuring reliable and accurate placement without requiring communication with another clinician.
Solution Approach 2:
The robotic system performs self-positioning and self-verification through its integrated sensor system. The proximity sensors automatically measure distances and provide positioning data, allowing the system to self-correct and self-verify its position, thereby maintaining reliability while enabling single-user operation.
3Measurement precision
If proximity sensor elements are integrated into the robotic instrument and uterine manipulator, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent merges the proximity sensor elements directly into the robotic instrument and uterine manipulator structures. The first proximity sensor element is integrated into the robotic instrument, and the second proximity sensor element is integrated into the uterine manipulator, creating a unified measurement system that improves precision while consolidating components rather than adding separate external devices.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system enhances surgical precision by allowing single-user control, reducing the risk of uterine damage and maintaining consistent uterus positioning throughout the procedure, improving surgical outcomes.
Implementation Method 1
a first proximity sensor element and a second proximity sensor element cooperatively generate a distance signal indicating a distance between the first proximity sensor element and the second proximity sensor element
Data Source
AI summary
A system includes a control console, a laparoscopic instrument, and a uterine manipulator. The laparoscopic instrument includes a first proximity sensor element. The uterine manipulator includes a base and a shaft extending distally from the base. The shaft includes a distal end dimensioned to be inserted into the uterus of a patient and a second proximity sensor element located at the distal end. The proximity sensor elements are configured to cooperatively generate a distance signal indicating a distance between the proximity sensor elements. The control console is configured to receive the distance signal from either the first proximity sensor element or the second proximity sensor element and calculate a corresponding distance between the proximity sensor elements. The control console is configured to compare the corresponding distance with a threshold distance and generate an alert signal when the corresponding distance is smaller than the threshold distance.