Translatable Drive Puck for Precise Robotic Surgical Actuation
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Solution Overview
Problem
Current robotic surgical systems face limitations in efficiently transferring torque and actuating end effectors during minimally invasive procedures, requiring improvements in mechanical transmission and control mechanisms to enhance precision and ease of use.
Innovation Solution
The development of a surgical tool with a lead screw and spline system, where a drive puck is movably mounted to the lead screw and spline, allowing for rotational torque transfer through a spline coupling and drive housing, enabling precise actuation of end effectors via a drive gear and activating mechanism.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robotic surgical system uses a conventional drive mechanism, then the structure is simpler, but the precision and ease of use in actuating end effectors deteriorates
Solution Approach 1:
The drive mechanism is segmented into distinct functional components: a lead screw for axial translation, splines for rotational torque transfer, a drive puck as a movable interface, and a drive housing for structural support. This segmentation allows each component to perform its specific function efficiently while maintaining overall system precision without excessive complexity.
Solution Approach 2:
The drive puck serves as an intermediary component that mediates between the lead screw/spline transmission system and the instrument drive output. It translates the mechanical motion from the lead screw and splines into precise rotational movement at the instrument drive output, enhancing actuation precision while managing mechanical complexity through a dedicated intermediate element.
2Ease of operation
If torque is transferred through a complex transmission system, then the precision of end effector actuation is improved, but the device complexity increases
Solution Approach 1:
The drive mechanism incorporates dynamic elements including a movable drive puck that translates along the lead screw, and rotating splines that engage with the drive puck. This dynamic configuration allows the system to adapt to different actuation requirements while maintaining ease of operation, as the moving components automatically adjust to transmit torque efficiently through varying mechanical conditions.
Solution Approach 2:
The patent replaces complex multi-stage mechanical transmissions with a more direct torque transmission path using splines and a drive puck. Instead of traditional gear trains or belt systems, the spline-driven movable puck provides a simpler mechanical substitution that maintains ease of operation while reducing the number of mechanical interfaces and potential failure points.
3Productivity
If a movable drive puck is used to transfer torque, then the precision and ease of use are improved, but the device complexity increases
Solution Approach 1:
The drive puck merges multiple functions into a single component: it serves as both the translator along the lead screw and the rotor that transfers torque through spline engagement. By combining translation and rotation functions in one movable component, the system improves productivity through integrated action while actually reducing overall device complexity compared to separate mechanisms for each function.
Solution Approach 2:
The movable drive puck is designed as a universal component that performs multiple functions: it translates axially along the lead screw, rotates to transfer torque via spline engagement, and interfaces with the instrument drive output. This multi-functionality improves productivity by having one component handle multiple operational requirements, while the universal design actually simplifies the overall system architecture.
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
This solution enhances the precision and ease of use in robotic surgical systems by effectively transferring torque and actuating end effectors, improving the performance of minimally invasive procedures.
Implementation Method 1
a lead screw and at least one spline extending between a first end and a second end, and a drive puck movably mounted to the lead screw and the at least one spline and movable between the first and second ends
Implementation Method 2
A spline coupling is rotatably coupled to the drive puck and receives the at least one spline such that rotation of the at least one spline correspondingly rotates the spline coupling, and an instrument drive output is rotatably coupled to the drive puck and operatively coupled to the spline coupling, such that rotation of the spline coupling correspondingly rotates the instrument drive output
Implementation Method 3
The surgical tool includes a drive gear that rotates with rotation of the drive input and an activating mechanism housed in the drive housing and operatively coupled to the drive gear such that rotation of the drive gear correspondingly actuates the activating mechanism and thereby causes a function of the end effector
Data Source
AI summary
A robotic surgical tool comprises a lead screw and at least one spline extending between first and second end, and a drive puck movably mounted to the lead screw and the spline and movable between the first and second ends. A spline coupling is rotatably coupled to the drive puck and receives the spline such that rotation of the spline correspondingly rotates the spline coupling. An instrument drive output is rotatably coupled to the drive puck and operatively coupled to the spline coupling, such that rotation of the spline coupling correspondingly rotates the instrument drive output. A drive housing is mountable to the drive puck and includes a drive input rotatably mounted to the drive housing and matable with the instrument drive output such that rotation of the instrument drive output correspondingly rotates the drive input.