Instrument Preload Mechanism for Stable Surgical Engagement
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Solution Overview
Problem
Existing teleoperated surgical systems face challenges in securely engaging instruments during installation due to unpredictable motion caused by varying orientations of disks in the drive system, which can lead to instability and complications during medical procedures.
Innovation Solution
A computer-assisted surgical apparatus with a preload assembly and controller that includes a preload engage/disengage mechanism, allowing for controlled preload application and release, ensuring secure engagement of instruments while minimizing unpredictable motion through a cam following assembly and torsional spring mechanism.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If drive motors are rotated back and forth multiple times during instrument installation to ensure proper engagement, then secure engagement of disks is improved, but unpredictable instrument motion occurs causing instability
Solution Approach 1:
The preload mechanism applies a preliminary axial force to the motor pack before engagement operations, pre-positioning the disks and eliminating play that would cause unpredictable motion during rotation. This preliminary action ensures that when drive motors rotate during installation, the instrument remains stable while still achieving secure engagement.
Solution Approach 2:
The preload mechanism counteracts the harmful effect of disk misalignment and play before engagement operations occur. By applying axial preload force in advance, the system prevents the unpredictable motion that would otherwise occur during the engagement process, rather than attempting to correct it afterward.
2Reliability
If disks are rotated to ensure proper meshing with drive system features, then engagement reliability is improved, but instrument motion becomes unpredictable
Solution Approach 1:
The preload mechanism is activated before the engagement process to pre-align the disks with the drive system features. This preliminary alignment ensures that when disks are rotated during installation, they mesh predictably with drive system features without causing unpredictable instrument motion.
3Stability of the object's composition
If preload force is applied to eliminate play between drive system and instrument, then engagement stability is improved, but device complexity increases
Solution Approach 1:
The preload mechanism uses a spring-loaded system that automatically applies and maintains the necessary preload force without requiring continuous external control or adjustment. The mechanism self-regulates to eliminate play between components while maintaining engagement stability, reducing the need for complex control systems.
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
The solution provides stable and predictable instrument engagement, reducing the risk of complications during installation and operation by maintaining a consistent preload force, thus enhancing the reliability and safety of teleoperated surgical systems.
Implementation Method 1
An engagement arm is rotatably coupled to the second pivot pin. A torsional spring is mounted on the second pivot pin and coupled to the engagement arm.
Data Source
AI summary
A computer-assisted teleoperated system includes a pre-load assembly in an instrument manipulator that is under the control of a controller. The controller can automatically cause the preload assembly to engage and disengage a preload. A surgical apparatus includes an instrument manipulator assembly and a sterile adapter assembly. The sterile adapter assembly is mounted in the distal face of the instrument manipulator assembly. When the preload assembly configures the instrument manipulator assembly to apply a preload force on the sterile adapter assembly, the sterile adapter assembly is removable from the distal face of the instrument manipulator. The sterile adapter assembly includes a mechanical sterile adapter assembly removal lockout and a mechanical instrument removal lockout.