Drape Interface Structure for Surgical Robotics
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Solution Overview
Problem
In surgical robotic assemblies, it is challenging to maintain sterility at the interface between the robotic arm and instrument due to the impracticality of disinfecting and sterilizing the large mechanical components without damaging them, necessitating an effective barrier that allows motion transfer while preventing contamination.
Innovation Solution
A drape interface structure comprising a frame with a thin, deformable membrane that forms a plastically deformed region upon initial movement of a drive transfer element, reducing subsequent resistance and allowing smooth motion transfer through the membrane while maintaining sterility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a taut membrane is used to maintain sterility, then the sterile barrier is effective, but the resistance to motion transfer increases
Solution Approach 1:
The membrane is pre-stretched and secured to the frame before use, creating initial tension that maintains sterility. The drive transfer element is initially positioned to allow the membrane to deform and form a plastically deformed region, which then reduces resistance for subsequent motions while maintaining the sterile barrier.
Solution Approach 2:
The membrane material properties are changed through plastic deformation during initial movement. The membrane transitions from a highly taut state with high resistance to a plastically deformed state with reduced resistance, while maintaining its barrier function. This parameter change allows the membrane to adapt to motion requirements after initial setup.
2Force
If the membrane is made thin to reduce resistance, then motion transfer is smoother, but the membrane may tear or detach from the frame
Solution Approach 1:
A thin membrane is used as a flexible barrier that can deform under stress. The membrane is secured to a rigid frame that provides structural support, allowing the thin membrane to reduce motion resistance while the frame prevents tearing and detachment. The frame-membrane assembly combines the advantages of thin flexible barriers with structural integrity.
Solution Approach 2:
The system is divided into the frame structure and the membrane barrier. The frame handles structural loads and prevents tearing, while the thin membrane handles the barrier function and reduces motion resistance. This segmentation allows each component to be optimized for its specific function without compromising overall system integrity.
3Reliability
If the membrane is kept taut to prevent contamination, then sterility is maintained, but the drive transfer element experiences increased friction
Solution Approach 1:
The membrane is pre-stretched and secured to maintain sterility before operation. During initial operation, the membrane deforms plastically to reduce friction, creating a path of least resistance for the drive transfer element while maintaining the sterile barrier. This preliminary deformation action resolves the contradiction between maintaining tension for sterility and reducing friction for ease of operation.
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 solution provides a sterile barrier that allows for efficient motion transfer between the robotic arm and instrument, reducing the risk of contamination and simplifying the sterilization process by minimizing the tension in the membrane, thus preventing membrane tearing and maintaining sterility.
Implementation Method 1
The membrane is of a material that may deform to form a plastically deformed region in the membrane in response to an initial movement of the drive transfer element relative to the frame
Data Source
AI summary
A drape interface structure including a frame defining an opening, a membrane spanning the opening of the frame, and a drive transfer element attached to the membrane and adapted to convey motion through the membrane. The membrane is of a material that can deform to form a plastically deformed region in the membrane in response to an initial movement of the drive transfer element relative to the frame, such that subsequent movements of the drive transfer element in the membrane have reduced resistance from the membrane.