Surgical Endoscope Wedge Mounting for Compact Robot Arm Integration
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Solution Overview
Problem
The challenge in surgical robotics is the limited available space around the patient due to bulky endoscopes, which require complex collision avoidance systems and restrict port placement, limiting the positioning of surgical robots and increasing the risk of collisions.
Innovation Solution
A surgical endoscope with a wedge mechanism that aligns its longitudinal axis with the robot arm, allowing perpendicular engagement and minimizing swept volume, combined with a lock mechanism for secure attachment and detachment, ensuring safe and efficient integration with the robot arm.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a bulky endoscope is used for surgical procedures, then the endoscope can perform its imaging function, but the overall working space required increases and the risk of collisions between multiple robot arms increases
Solution Approach 1:
The endoscope is nested within the robot arm interface, with the endoscope interface receiving the robot arm interface in a recessed configuration. The endoscope shaft passes through the robot arm interface, allowing the endoscope to be contained within the robot arm's working envelope rather than extending beyond it, thereby minimizing the swept volume and reducing collision risk.
2Reliability
If the endoscope interface is large to accommodate optical equipment, then the endoscope can be securely attached to the robot arm, but the available space for port placement is reduced
Solution Approach 1:
The endoscope interface is received within a recessed area of the robot arm interface, nesting the attachment structures within each other. This nested configuration allows for secure attachment through the wedge mechanism while keeping the overall footprint compact, preserving space for port placement around the patient.
3Adaptability or versatility
If the endoscope shaft is long to reach the surgical site, then the endoscope can access deep surgical sites, but the swept volume of the endoscope increases
Solution Approach 1:
The endoscope shaft is routed through the longitudinal axis of the robot arm interface, utilizing the internal dimensional space of the robot arm structure. This allows the endoscope to extend distally to reach surgical sites while the shaft passage is contained within the robot arm's structural envelope, minimizing the external swept volume.
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 reduces the overall working space required, enabling closer placement of surgical robots, simplifies attachment and detachment, and minimizes the risk of collisions, while maintaining a sterile environment.
Implementation Method 1
an endoscope wedge mechanism moveable between an unlocked position and a locked position, the endoscope wedge mechanism comprising: endoscope wedge elements which are displaceable such that collective displacement of the endoscope wedge elements actuates the endoscope wedge mechanism between the unlocked position and the locked position
Data Source
AI summary
A surgical endoscope for manipulation by a surgical robot arm. The surgical endoscope comprises a shaft having a distal end for insertion into a patient and a proximal end. An endoscope interface is attached to the proximal end of the shaft. The endoscope interface is configured to engage a robot arm interface of the surgical robot arm. The endoscope interface comprises an endoscope wedge mechanism moveable between an unlocked position and a locked position. The endoscope wedge mechanism comprises endoscope wedge elements which are displaceable such that collective displacement of the endoscope wedge elements actuates the endoscope wedge mechanism between the unlocked position and the locked position.