Surgical Cannula Docking Interface with Over-Center Locking
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Solution Overview
Problem
Existing robotic surgical systems face challenges in securely and reliably docking surgical arms to cannulas, particularly due to limited accessibility of the cannula latch and geometric constraints that create pinch points, hindering user interaction and feedback during the docking process.
Innovation Solution
The development of an improved docking interface with a locking mechanism that automatically steps through three required states during arm-to-cannula docking, providing audible, tactile, and visual feedback, and incorporating sensors to detect cannula presence, proper latching, and cannula type, ensuring secure attachment and user guidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a manual docking process is used where the user must access and operate the cannula latch, then the system provides direct user control over the docking process, but the user's ability to grab and manipulate the arm is limited by the latch position and arm geometry creating pinch points
Solution Approach 1:
The docking interface automatically performs the docking operation without requiring manual manipulation of the latch by the user. The system detects when the arm is in the correct position and automatically engages the latch, eliminating the need for the user to physically access and operate the cannula latch while avoiding geometric constraints of the arm structure.
2Reliability
If the cannula latch is positioned for mechanical connection, then a secure attachment can be achieved, but the latch may not be accessible in all configurations and creates pinch points that limit user interaction
Solution Approach 1:
The system automatically detects the proper docking configuration and secures the mechanical connection without requiring the user to manually access the latch. The automatic docking mechanism ensures reliable attachment while eliminating the need for user interaction with the latch in difficult-to-reach positions.
Solution Approach 2:
The system provides feedback to the user about the docking status and automatically adjusts the latch position based on detected arm configuration, ensuring reliable mechanical connection while maintaining user accessibility through automated control and status indication.
3Reliability
If sensors and automatic detection mechanisms are added to detect cannula presence and latching status, then comprehensive feedback and secure attachment are provided, but the device complexity increases
Solution Approach 1:
The docking interface integrates multiple functions into a single automated system that combines sensing, detection, and latching operations. The sensor system serves multiple purposes including detecting arm position, confirming cannula presence, verifying proper latching, and providing user feedback, thereby achieving comprehensive reliability without proportionally increasing complexity.
Data Source
AI summary
An apparatus for attachment of a cannula to a robotic surgical system, the apparatus comprising: a clamp operable to transition between an open position configured to receive a cannula and a closed position to attach the cannula to a robotic surgical system; an actuator operable to transition the clamp between the open position and the closed position; and a linking member pivotally coupled to the camp at a first pivot point and the actuator at a second pivot point, and wherein in the closed position, the second pivot point is over center relative to the first pivot point.