Hydraulic Surgical Drive System for Sterile Motion Transfer
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Solution Overview
Problem
Existing robotic surgical systems require complex and bulky mechanisms for transferring motion and force through sterile drapes, often relying on rotary couplers or motors, which can complicate sterilization and increase the risk of contamination.
Innovation Solution
A hydraulic surgical end effector drive system (HSEEDS) that uses pressurized fluid to transmit motion and force to instrument end effectors, eliminating the need for rotary couplers and allowing for a sterile drape to maintain sterility without special adapters, with subsystems including an input pressure system, mechanical transfer system, and instrument end effector output system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If rotary couplers or motors are used to transfer motion through sterile drapes, then motion transfer is achieved, but device complexity and bulk increase
Solution Approach 1:
The patent replaces complex mechanical rotary coupling systems with a fluid-based actuation system. Motors located outside the sterile field drive fluid through hoses that penetrate the sterile drape, eliminating the need for mechanical motion transfer through the drape itself. This substitution of mechanical systems with fluid-based actuation reduces device complexity while maintaining sterility reliability.
Solution Approach 2:
The patent introduces fluid as an intermediary medium to transfer actuation force across the sterile barrier. Instead of directly coupling mechanical components through the drape, the system uses fluid transmission as an intermediate step, allowing motion transfer while preserving the integrity of the sterile field and reducing mechanical complexity.
2Reliability
If rotary couplers are used for motion transfer, then motion is transmitted, but the risk of contamination increases
Solution Approach 1:
By replacing mechanical rotary couplers with fluid-based actuation, the patent eliminates mechanical interfaces that would penetrate or compromise the sterile drape. The fluid transmission system allows actuation without creating contamination pathways, thereby reducing contamination risk while maintaining sterility.
Solution Approach 2:
The patent extracts the motors and fluid reservoir from the sterile field, placing them in the non-sterile external environment. Only fluid-tight hose penetrations remain in the drape, minimizing the sterile barrier compromise. This extraction of potentially contaminating components reduces the risk of contamination while maintaining effective actuation.
3Ease of operation
If motors and electronics are built into instruments, then dexterous control is achieved, but sterilization becomes difficult
Solution Approach 1:
The patent segments the surgical system into sterile and non-sterile components. Motors and electronics are placed in non-sterile external units, while only simple, sterilizable instrument components remain in the sterile field. This segmentation allows sophisticated control capabilities in the non-sterile portion while maintaining ease of sterilization for the instrument portion.
Solution Approach 2:
The patent uses fluid as an intermediary to transmit actuation commands from external motors to internal instrument mechanisms. This allows complex control functionality to be implemented in non-sterile external units while the sterile instrument portion remains simple and easily sterilizable, resolving the conflict between dexterous control and sterilization ease.
4Ease of operation
If complex mechanisms are used for motion transfer, then precise control is achieved, but the system becomes bulkier
Solution Approach 1:
The patent replaces bulky mechanical motion transfer mechanisms with compact fluid-based actuation. External motors drive fluid through flexible hoses, eliminating the need for large mechanical couplers and gear systems within the instrument. This substitution achieves precise control while significantly reducing system bulk and improving maneuverability.
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
Enables more efficient and sterile transfer of motion and force to surgical instruments, reducing the complexity and bulk of the robotic system, improving sterility and reducing the need for frequent instrument replacement, while providing haptic feedback and potentially longer instrument lifespan.
Implementation Method 1
A robotic surgical system incorporates a hydraulic surgical end effector drive system (HSEEDS) that uses pressurized fluid to transmit motion and force to instrument end effectors
Data Source
AI summary
A robotic surgical system includes a fluid drive system and a surgical instrument removably positioned in operative engagement with the drive system. A sterile barrier covers non-sterile portions of the surgical system. Features of the sterile barrier are used to transfer motion output from the fluid drive system to the instrument for actuation of the instrument.