Axial Shaft Drive Rollers for Fast Robotic Instrument Insertion
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Solution Overview
Problem
Current robotic medical systems face limitations in efficiently driving axial motion of elongated shafts during medical procedures, particularly in achieving high insertion and retraction speeds and depths, while minimizing shaft buckling and tissue force, due to constraints in robotic arm movement and shaft alignment.
Innovation Solution
A robotic medical system incorporating a drive device with opposing rollers that engage the elongated shaft, allowing for axial motion through a channel with a service loop configuration, enabling faster insertion and retraction speeds and increased insertion depth, and a mechanism to control force applied to the shaft to prevent tissue damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the robotic arm moves the instrument base at a limited speed, then the shaft alignment is maintained, but the insertion and retraction speed of the elongated shaft is restricted
Solution Approach 1:
A drive device with opposing rollers acts as an intermediary mechanism between the first robotic arm (moving instrument base) and the elongated shaft. This mediator enables independent high-speed axial motion of the shaft while the robotic arm maintains positioning and alignment, resolving the speed limitation without requiring complex coordination between multiple robotic arms.
2Loss of time
If the elongated shaft is moved quickly through the access sheath, then insertion time is reduced, but shaft buckling and tissue force increase
Solution Approach 1:
The drive device dynamically adjusts the motion profile of the elongated shaft during insertion and retraction. The opposing rollers provide controlled axial motion that can be modulated in real-time to optimize speed while maintaining shaft stability and minimizing harmful forces on surrounding tissue, thus reducing insertion time without causing buckling or excessive tissue force.
3Length of moving object
If the drive device is positioned close to the instrument base, then the service loop length is reduced, but the insertion depth is limited
Solution Approach 1:
The drive device is positioned distal to the instrument base along the longitudinal axis, utilizing the longitudinal dimension to create an extended service loop configuration. This spatial arrangement allows the elongated shaft to achieve greater insertion depths while maintaining service loop stability, as the loop extends along the length of the shaft rather than requiring compact radial arrangement.
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 enables faster and more precise axial motion of medical instruments, reducing procedure time, minimizing shaft buckling, and ensuring safe tissue interaction by controlling the force applied during insertion and retraction.
Implementation Method 1
A robotic medical system incorporating a drive device with opposing rollers that engage the elongated shaft, allowing for axial motion through a channel with a service loop configuration
Data Source
AI summary
Certain aspects relate to systems and techniques for driving axial motion of a shaft of a medical instrument using a drive device. A drive device configured to facilitate axial motion of an elongated shaft of a medical instrument can include a body comprising a channel configured to receive the elongated shaft of the medical instrument, a roller configured to engage with the elongated shaft such that, when rotated, the roller drives axial motion of the elongated shaft received in the channel, a first drive input coupled to the body, wherein the first drive input is operable by a robotic system to rotate the roller, a cover configured to selectively open or close the channel, and a second drive input coupled to the body, wherein the second drive input is operable to actuate the cover.