Cannula Docking Clamp With Lock-Out Latch and Alignment Feedback
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Solution Overview
Problem
The existing robotic surgery systems face challenges in securely and efficiently docking surgical arms to cannulas due to limited accessibility of the latch mechanism and potential pinch points, which complicates the process in confined operating room environments.
Innovation Solution
An improved docking interface with a lever or actuator coupled to a lock-out mechanism that automatically steps through three states for secure attachment, providing audible, tactile, and visual feedback, along with sensors for detecting cannula presence and alignment, and an over-center latching mechanism for secure cannula attachment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a traditional latch mechanism is used for docking the robotic arm to the cannula, then the mechanical connection is established, but the latch becomes inaccessible and creates pinch points in confined operating room environments
Solution Approach 1:
The latch mechanism is extracted from the traditional docking interface location and repositioned to an accessible location on the robotic arm. The latch is now operable from a position that does not require the user to reach into confined spaces or navigate around pinch points, while still maintaining its function of securing the cannula to the robotic arm.
Solution Approach 2:
A docking interface component acts as an intermediary between the user and the latch mechanism. This intermediate structure provides a lever arm or extended actuator that allows the user to operate the latch from an accessible position away from the robotic arm body, eliminating the need to reach into difficult-to-access areas.
2Productivity
If manual docking procedure is used, then the user can control the attachment process, but the process becomes time-consuming and prone to human error in confined spaces
Solution Approach 1:
Sensors are integrated into the docking interface to detect when the cannula is properly positioned and aligned with the robotic arm. This feedback mechanism provides real-time information to the control system, enabling automatic adjustment and confirmation of proper docking. The system can detect alignment through sensor signals and provide feedback to the user or automatically complete the docking process.
Solution Approach 2:
The docking interface is designed to automatically guide and complete the docking process once the cannula is inserted. The mechanism includes self-aligning features and automatic latching capabilities that reduce the need for manual manipulation. The system performs the docking operation itself based on sensor detection, eliminating the need for the user to manually manipulate components in confined spaces.
3Ease of operation
If the latch mechanism is positioned for easy access, then the user can operate it comfortably, but the mechanical connection strength and stability may be compromised
Solution Approach 1:
The docking interface is segmented into distinct functional components: an accessible actuator mechanism for user operation, a transmission linkage for force transfer, and a secure latching interface for mechanical connection. This segmentation allows the actuator to be positioned for easy access while the latching interface maintains optimal mechanical strength at the docking point.
Solution Approach 2:
The latch operation is extended into a different spatial dimension through the use of a lever arm or extended actuator mechanism. Instead of requiring direct access to the latch at the docking interface, the user operates the latch from a position extended perpendicular to the robotic arm axis, providing accessibility without compromising the mechanical connection at the primary docking interface.
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
Enables secure and reliable attachment of surgical arms to cannulas with enhanced user feedback, ensuring proper alignment and preventing accidental detachment during procedures.
Implementation Method 1
The lock out mechanism may include a hook that interfaces with a ball bearing on the actuator, instead of a fixed structure. This, in turn, reduces wear between the interfacing surfaces.
Data Source
AI summary
An apparatus for attaching a cannula to a robotic surgical system, the apparatus comprising: a clamp assembly configured to attach a cannula to a robotic surgical system, the clamp assembly comprising an actuator coupled to a clamp to transition the clamp between an open position configured to receive the cannula and a closed position to attach the cannula to the robotic surgical system; and a lock out assembly coupled to the clamp assembly to control the transition of the clamp, the lock out assembly having a hook that is dimensioned to engage a bearing coupled to the actuator when the clamp is in the open position and disengage the bearing to allow the clamp to automatically transition to the closed position.