Floating Adaptor Plate for Robotic End Effector Switching
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Solution Overview
Problem
Conventional systems for changing end effectors on robotic arms during surgical procedures face challenges such as breaking the sterile barrier, introducing tolerance stack-up, and reducing accuracy, especially when switching between tools of different diameters.
Innovation Solution
A system comprising an adaptor with a floating adaptor plate, a torque sleeve, and a screw that allows for secure attachment of end effectors to a robotic arm without applying undesired torque, maintaining the sterile barrier and ensuring accuracy by eliminating direct contact and tolerance issues.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional systems are used to change end effectors on robotic arms, then the sterile barrier is broken, but surgical precision and accuracy are compromised
Solution Approach 1:
The adaptor serves as an intermediary component between the robotic arm flange and the end effector. It includes a sterile adapter interface that maintains the sterile barrier while a non-sterile adapter interface connects to the robotic arm. The floating adaptor plate with projections and recesses enables precise alignment without direct contact between sterile and non-sterile components, thus maintaining both sterility and accuracy.
2Ease of operation
If end effectors are directly attached to the robotic arm, then attachment is simple, but tolerance stack-up occurs reducing precision
Solution Approach 1:
The connection system is segmented into multiple components: the robotic arm flange, the adaptor with floating adaptor plate, and the end effector. The adaptor plate includes multiple projections that engage with corresponding recesses in both the flange and end effector, distributing alignment tolerances across multiple contact points rather than a single direct attachment, thereby reducing cumulative tolerance stack-up.
3Adaptability or versatility
If conventional attachment methods are used, then end effectors can be changed, but undesired torque is applied affecting accuracy
Solution Approach 1:
The adaptor plate is designed to float relative to both the flange and the end effector body, allowing dynamic adjustment and self-alignment during attachment. The floating mechanism with multiple projections and recesses enables the system to accommodate misalignments and prevent the application of undesired torque that would otherwise be transmitted through a rigid direct connection.
Data Source
AI summary
Systems and methods for changing an end effector for a robotic arm are provided. The system may include an adaptor having an adaptor plate having a kinematic interface having at least one projection extending from both the first side and the second side. The adaptor may also include a torque sleeve retained on the adapter plate and a screw disposed inside of the torque sleeve. The system may also include an end effector having a kinematic receiver and a nut. The kinematic receiver may include at least one recess for receiving a corresponding projection of the at least one projection. The screw may be secured to a robot flange and the nut may be secured to the torque sleeve, thereby securing the end effector, the adaptor, and the robot flange to each other.