Instrument Device Manipulator Roll Mechanism

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Solution Overview

Problem

Current surgical robotic systems face challenges in efficiently rotating elongate surgical tools without compromising their actuation and articulation capabilities, leading to increased friction and operational discomfort for operators due to mechanically-limited pull-wire management and the need for separate modules for articulation and roll.

Innovation Solution

The development of an instrument device manipulator (IDM) that allows continuous rotation of surgical tools about their axis, featuring a base attachable to a robotic arm, a surgical tool holder assembly with torque couplers, and slip rings for power and signal transmission, enabling seamless rotation and maintaining tool functionality.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If pull wires are twisted around each other to achieve roll, then roll capability is achieved, but friction increases and actuation capability deteriorates

Engineering Contradiction:

Improveroll capabilityVSAvoidactuation capability

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The device separates roll actuation from pull wire actuation by introducing an independent rotation mechanism. The pull wires remain stationary while a separate rotational component (with gear teeth) enables roll without twisting the pull wires, thus maintaining actuation capability while achieving roll versatility

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

A gear mechanism acts as an intermediary between the roll control input and the surgical tool. The gear teeth engage with a rotating component to provide roll capability without directly twisting the pull wires, mediating the rotational motion to preserve wire integrity and reduce friction

Inventive Principle:

Principle #24Intermediary (Mediator)

2Adaptability or versatility

If separate modules are used for articulation and roll, then articulation and roll capabilities are achieved, but device complexity increases

Engineering Contradiction:

Improvearticulation and roll capabilitiesVSAvoidmodule quantity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The device merges articulation and roll functions into a single integrated manipulator assembly. The rotation mechanism with gear teeth is integrated into the existing articulation structure, allowing both articulation and roll to be controlled from a single module rather than requiring separate devices

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The manipulator assembly is designed to perform multiple functions including articulation, roll, and pull wire actuation within a single device. The gear mechanism and rotation component enable the same assembly to achieve both articulation and roll capabilities without requiring additional separate modules

Inventive Principle:

Principle #6Universality (Multi-functionality)

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 efficient and comfortable operation by reducing friction and eliminating the need for separate modules, allowing for continuous rotation of surgical tools while maintaining actuation and articulation capabilities, thereby improving surgical procedure efficiency and operator ergonomics.

Implementation Method 1

a surgical tool holder assembly configured to rotate the surgical tool about a longitudinal axis of the surgical tool

Methodology Applied

Scientific EffectMechanical rotation:

Implementation Method 2

a passage configured to receive a proximal extension of the surgical tool and allow free rotation of the surgical tool relative to the base

Methodology Applied

Scientific EffectFree rotation:

Data Source

PatentUS9993313B2Instrument device manipulator with roll mechanism

Publication Date: 2018.06.12 AURIS HEALTH INC

AI summary

An instrument device manipulator (IDM) is attached to a surgical arm of a robotic system and comprises a surgical tool holder and an outer housing. The surgical tool holder includes an attachment interface that can secure a surgical tool in a front-mount configuration (where the attachment interface is on a face opposite of a proximal extension of the surgical tool) or a back-mount configuration (where the attachment interface is on the same face as the proximal extension of the surgical tool). The surgical tool holder may rotate continuously within the outer housing. In a back-mount configuration, the surgical tool holder may have a passage that receives the proximal extension of the tool and allows free rotation of the proximal extension about the rotational axis. A surgical drape separates the IDM and robotic arm from a tool, while allowing electrical and/or optical signals to pass therebetween.