Instrument Drive Unit Lead Screw Rails for Robotic Surgery
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Solution Overview
Problem
Current robotic surgical systems face challenges in the easy and efficient attachment and removal of surgical instruments from instrument drive units, making the process difficult and time-consuming.
Innovation Solution
The proposed solution involves a surgical system with an instrument drive unit and a surgical instrument support, featuring a first actuator and a translatable member that rotates a rotatable member of the adapter portion, which is operatively coupled to the end effector, allowing for telemanipulation and independent actuation of the surgical instrument, along with a second actuator for the elongate member, and a third actuator for additional control, enabling precise and efficient attachment and detachment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional connecting features are used for instrument attachment, then the instrument can be connected to the drive unit, but the connection and removal process becomes difficult and time-consuming
Solution Approach 1:
The instrument drive unit employs a dynamic coupling mechanism where the instrument can be quickly attached and detached through movable connecting features. The drive unit includes a movable instrument interface that can transition between locked and unlocked positions, enabling rapid instrument exchange without complex manual operations.
Solution Approach 2:
A sterile adapter or interface component serves as an intermediary between the non-sterile drive unit and the sterile instrument. This adapter includes standardized connecting features that facilitate quick attachment while maintaining sterility barriers, reducing the time and complexity of instrument connection.
2Measurement precision
If multiple actuators and translatable members are used for precise instrument control, then the surgical instrument can be precisely actuated, but the device complexity increases
Solution Approach 1:
The drive unit is segmented into multiple independent actuator modules, each responsible for a specific degree of freedom or instrument function. This modular segmentation allows precise control of individual instrument parameters while keeping each module relatively simple and maintainable.
Solution Approach 2:
The drive unit employs universal coupling mechanisms and standardized interfaces that allow the same actuator design to control multiple different instrument types. This multi-functionality reduces overall system complexity by reusing components across different surgical instruments.
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 configuration allows for reliable, precise, and efficient attachment and removal of surgical instruments, improving usability and reducing the complexity of the process, while maintaining sterility through a drape barrier, enhancing the overall performance of robotic surgical systems.
Implementation Method 1
The instrument drive unit includes a lead screw operatively associated with the sterile adapter such that rotation of the lead screw effects longitudinal movement of the surgical instrument along the robotic arm
Implementation Method 2
The instrument drive unit includes a belt operatively associated with the sterile adapter such that translation of the belt effects vertical movement of the surgical instrument
Data Source
AI summary
A surgical system for selective connection to a robotic arm includes an instrument drive unit and a surgical instrument detachably coupled to the instrument drive unit. The instrument drive unit includes first and second actuators and a first translatable member operatively coupled with the first actuator. The surgical instrument includes an adapter portion, an elongate member extending distally from the adapter portion, and an end effector mounted on a distal end of the elongate member. The adapter portion has a first rotatable member operatively associated with the first translatable member. The first rotatable member is rotatable in response to translation of the first translatable member. The end effector is operatively coupled with the first rotatable member, wherein rotation of the first rotatable member effects a first function of the end effector.