Instrument-Based Insertion Architecture Reducing Swung Mass

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Solution Overview

Problem

Robotic arms in surgical systems face challenges with heavy swung mass and reduced working space during shallow insertion depths, necessitating a reduction in reliance on robotic arms for linear instrument insertion.

Innovation Solution

The implementation of instrument-based linear insertion architectures, where a shaft of the instrument can translate along an axis of insertion, decoupling the actuation mechanism for the end effector from the mechanism causing shaft translation, allowing for independent movement and reducing the reliance on robotic arms.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If the robotic arm is responsible for linear insertion of the instrument, then the insertion function is provided, but the swung mass increases and performance reduces at shallow insertion depths

Engineering Contradiction:

Improveinsertion functionVSAvoidswung mass

Core Design Contradiction:

ReliabilityVSWeight of moving object

Solution Approach 1:

The system divides the insertion function into two independent parts: the robotic arm provides pitch and yaw motion while the instrument's own actuator provides linear insertion motion. This segmentation allows each component to perform its specialized function without bearing the full burden of mass movement, thereby reducing swung mass while maintaining reliable insertion capability.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The instrument acts as an intermediary between the robotic arm and the surgical site. The robotic arm's motion is transferred to the instrument, which then uses its own actuator mechanism to perform the linear insertion. This intermediary approach allows the robotic arm to avoid directly handling the full insertion mass, reducing swung mass and improving performance at shallow depths.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Reliability

If the robotic arm is responsible for linear insertion of the instrument, then the insertion function is provided, but the working space for surgeon or assistant reduces

Engineering Contradiction:

Improveinsertion functionVSAvoidworking space

Core Design Contradiction:

ReliabilityVSArea of stationary object

Solution Approach 1:

By segmenting the insertion function between the robotic arm (pitch/yaw) and the instrument actuator (linear insertion), the system reduces the robotic arm's movement amplitude requirements. This allows the robotic arm to operate in a smaller workspace while the instrument itself performs the insertion, thereby preserving more working space for the surgeon or assistant.

Inventive Principle:

Principle #1Segmentation

3Adaptability or versatility

If the robotic arm provides all degrees of freedom including insertion, then complete control is achieved, but the overall profile of the robot increases and swung mass increases

Engineering Contradiction:

Improvedegrees of freedom controlVSAvoidrobot profile

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The linear insertion degree of freedom is extracted from the robotic arm and transferred to the instrument's own actuator mechanism. This extraction allows the robotic arm to have a more compact profile with fewer requirements for insertion travel, while the instrument independently provides the linear insertion capability, maintaining complete control across all degrees of freedom.

Inventive Principle:

Principle #2Taking out (Extraction)

Solution Approach 2:

Instead of the robotic arm providing all degrees of freedom including insertion, the approach is inverted: the robotic arm provides pitch and yaw while the instrument provides linear insertion. This inversion reduces the robotic arm's profile and swung mass while maintaining adaptability and versatility through the instrument's own actuation capabilities.

Inventive Principle:

Principle #13The other way round (Inversion)

Data Source

PatentUS20240138938A1Systems and methods for instrument based insertion architectures

Publication Date: 2024.05.02 AURIS HEALTH INC

AI summary

Systems, devices and methods are provided in which an instrument can translate along an insertion axis. Rather than relying primarily on a robotic arm for instrument insertion, the instruments described herein have novel instrument based insertion architectures that allow portions of the instruments themselves to translate along an insertion axis. For example, an instrument can comprise a shaft, an end effector on a distal end of the shaft, and a handle coupled to the shaft. The architecture of the instrument allows the shaft to translate relative to the handle along an axis of insertion. The translation of the shaft does not interfere with other functions of the instrument, such as end effector actuation.