Bimanual surgical device and tremor compensation method thereof

Bi-manual surgical device

This technology is a control mechanism for performing bi-manual surgery. It uses a fiber-optic distance sensor (OCT) to measure the distance between the surgical tool tip and the lesion in real time, while the control unit calculates tremor compensation values to drive precision motors, effectively eliminating tremors in the forceps and scissors components.

Existing stabilization technologies focused on single surgical tools struggle to effectively compensate for hand tremors during precise micro-cutting procedures using both hands, and configuring systems for bi-manual use often results in bulky, oversized equipment.

This technology utilizes a 2x2 coupler to split the light source to measure the tip distance of each surgical instrument (forceps/scissors). It applies a compensation system that precisely controls motors based on compensation values calculated by comparing real-time position changes against pre-set initial position data, along with an ultra-compact drive mechanism using a rhombic barrel structure. Applicable to surgical robots, interventional systems, and medical automation, it enhances the accuracy and precision of micro-incision surgeries by compensating for tremors in real time.

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Key Features:

• A bi-manual surgical device characterized in that the two blades open when the barrel is raised by an ultra-compact actuator.
• A control unit that compensates for tremors in the forceps and scissors components based on the measured distance during surgery.
• The second surgical instrument is a scissor component that cuts micro-tissues held by the forceps component.
• The first surgical instrument is a forceps component for grasping the surgical site.

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This invention was developed with support from the Ministry of Science, ICT and Future Planning for a multi-degree-of-freedom sensing and actuation-based bi-manual ultra-precision surgical platform.