Instrument Drive Coupling Assembly for Fast Robotic Tool Exchange
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Solution Overview
Problem
Existing robotic surgical systems face challenges in providing quick and easy mechanical and electrical engagement with a variety of surgical instruments, particularly in coupling unique end effectors to instrument drive assemblies.
Innovation Solution
The instrument drive assembly features a housing assembly with a coupling tube and a retention mechanism, including a coupling rod with proximal and distal gears, a drive link, and a biasing member, allowing for releasable coupling and uncoupling of surgical instruments through a combination of rotational and linear movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a traditional cable-based actuation system is used with motors and processing systems, then the robotic system can control the wrist assembly and end effector, but the mechanical and electrical engagement with surgical instruments becomes complex and time-consuming
Solution Approach 1:
The instrument drive assembly is divided into distinct functional modules: a coupling mechanism for mechanical engagement, a cable routing system for actuation, and an interface for electrical connections. This segmentation allows each component to be optimized independently and facilitates quick assembly and disassembly of surgical instruments without requiring complex system-level adjustments
Solution Approach 2:
The instrument drive assembly incorporates a universal coupling interface that can accommodate multiple types of surgical instruments with different end effectors. The coupling mechanism, cable routing, and electrical interface are designed to work with various instrument configurations, eliminating the need for specialized engagement procedures for each instrument type and thereby improving ease of operation while managing system complexity
2Adaptability or versatility
If surgical instruments with unique end effectors are connected to the instrument drive assembly, then the system can perform diverse surgical functions, but the coupling and uncoupling process becomes more difficult
Solution Approach 1:
The instrument drive assembly features a standardized coupling interface with matching geometric features that can accommodate various surgical instruments with unique end effectors. The universal design allows different instruments to be attached using the same coupling procedure, maintaining ease of operation while achieving adaptability across multiple instrument types
Solution Approach 2:
The instrument drive assembly acts as an intermediary between the robotic system and diverse surgical instruments. It provides a standardized interface layer that translates between the universal coupling mechanism and the specific connection requirements of different instruments with unique end effectors, thereby enabling instrument compatibility without compromising coupling ease
3Reliability
If the instrument drive assembly uses a complex retention mechanism with multiple components, then the coupling can be more secure, but the attachment and detachment process takes more time
Solution Approach 1:
The retention mechanism is pre-configured in the instrument drive assembly with spring-loaded latches and aligned engagement features. When a surgical instrument is inserted, the retention components are already positioned to automatically engage with the instrument's coupling features, providing secure attachment without requiring manual adjustment or multiple steps, thereby achieving both coupling reliability and quick attachment
4Reliability
If the coupling mechanism requires precise alignment and multiple engagement steps, then the connection can be more reliable, but the quick engagement capability is reduced
Solution Approach 1:
The coupling mechanism features pre-aligned geometric engagement features and self-centering elements that automatically position the instrument correctly as it is inserted. The retention components are pre-positioned to engage immediately upon insertion, eliminating the need for manual alignment adjustments and enabling both quick engagement and reliable connection
Solution Approach 2:
The coupling mechanism incorporates self-aligning and self-locking features that automatically ensure proper connection without requiring operator intervention for precise positioning. The spring-loaded retention components self-engage with the instrument's coupling features, providing reliable connection while maintaining rapid engagement speed through the instrument's own insertion motion
Data Source
Figure 1A~1B
Figure 2
Figure 3~4
AI summary
An instrument drive assembly for use with a surgical instrument includes a housing assembly supporting a drive assembly therein, a coupling tube supported at a distal end of the housing assembly and extending distally therefrom, a coupling assembly, and a retention mechanism. The coupling assembly is supported in the housing assembly and is configured to releasably couple to an instrument drive shaft of the surgical instrument, and the retention mechanism is configured to releasably couple to an instrument sleeve of the surgical instrument.