Cannula Docking Latch With Over-Center Robotic Arm Attachment
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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 attachment device with a lever or actuator that automatically steps through three states for docking, providing audible, tactile, and visual feedback, and featuring a ball bearing trigger mechanism to reduce wear and increase reliability, along with an over-center latching mechanism and adjustable docking force to ensure secure attachment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a manual latch mechanism is used for docking the robotic arm to the cannula, then the attachment can be securely established, but the latch becomes inaccessible and difficult to operate in confined operating room environments
Solution Approach 1:
The docking mechanism automatically detects when the robotic arm is properly positioned relative to the cannula and autonomously executes the latching sequence without requiring manual intervention. The system uses sensors to detect alignment and triggers the actuator to engage the latch, making the system self-servicing and eliminating the need for difficult manual operations in confined spaces
Solution Approach 2:
The patent replaces the traditional manual mechanical latch operation with an automated electromechanical system. Sensors detect the positioning state and automatically activate the actuator to engage the latch mechanism, substituting manual mechanical operation with an automated sensing-actuation system that eliminates accessibility issues
2Reliability
If the robotic arm geometry is optimized for docking, then secure attachment is achieved, but pinch points are created that limit user ability to grab and reposition the arm
Solution Approach 1:
The docking system separates the docking function from the repositioning function. The automated latch mechanism handles secure attachment independently, while the arm geometry maintains full accessibility for manual handling. This segmentation allows the arm to be grabbed and repositioned freely without interference from the docking mechanism, as the latch engages automatically when properly positioned
3Measurement precision
If automated sensing and feedback systems are added to detect cannula presence and alignment, then docking precision is improved, but device complexity increases
Solution Approach 1:
The sensing system uses multi-functional components that serve both as structural elements of the docking mechanism and as sensors. For example, the latch components themselves can detect presence through their engagement state, and alignment is detected through the mechanical positioning required for latch engagement. This multi-functionality reduces overall system complexity while maintaining high measurement precision
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.