Instrument Drive Unit Segmented Tab Coupling Mechanism
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current robotic surgical systems face challenges in efficiently attaching and removing surgical instruments from instrument drive units, making the process difficult and time-consuming.
Innovation Solution
The system incorporates an instrument drive unit with a linkage member and drive members, allowing for telemanipulation and independent actuation of surgical instruments, along with a secure coupling mechanism using drive tabs and instrument tabs, enabling easy attachment and removal of surgical instruments from the robotic arm.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If surgical instruments are connected to instrument drive units with mating features, then reliable mechanical power transmission is achieved, but attachment and removal become difficult
Solution Approach 1:
The connection system is divided into separate drive tabs on the instrument drive unit and corresponding instrument tabs on the surgical instrument. These segmented components can be independently positioned and engaged, allowing for easier attachment while maintaining reliable power transmission through the tab-to-slot mating features.
Solution Approach 2:
Drive tabs and instrument tabs act as intermediary elements between the instrument drive unit and surgical instrument. These tabs provide a simplified interface that mediates the connection process, enabling easy attachment and removal while ensuring reliable mechanical coupling for power transmission.
2Reliability
If multiple connecting features are used for secure engagement, then reliable connection is achieved, but device complexity increases
Solution Approach 1:
The connection mechanism is segmented into multiple identical drive tabs and instrument tabs rather than using a single complex connecting feature. Each tab is a simple, standardized component that can be easily manufactured and assembled, reducing overall device complexity while providing redundant connection points for enhanced reliability.
Solution Approach 2:
The drive tabs and instrument tabs are designed as universal, standardized components that can be used across different surgical instruments and instrument drive units. This multi-functionality reduces the need for instrument-specific custom connectors, simplifying the overall system while maintaining reliable connections.
Data Source
Figure 1
Figure 2
Figure 3
AI summary
A surgical system for selective connection to a robotic arm comprising: an instrument drive unit including a first actuator, a linkage member having opposing first and second portions, the first portion operatively coupled to the first actuator such that actuation of the first actuator moves the first portion in a first direction and the second portion in a second direction opposite of the first direction and a drive member operatively coupled to the second portion of the linkage member and a surgical instrument detachably coupled to the instrument drive unit, the surgical instrument including a driven member operatively associated with the drive member of the instrument drive unit, and an end effector operatively coupled with the driven member, wherein translation of the driven member effects a first function of the end effector.