Intraocular Robotic Tool Exchange With Self-Aligning Mounts
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Solution Overview
Problem
Intraocular surgical procedures require rapid and precise exchange of multiple surgical instruments through limited entry sites, necessitating a mechanism that accommodates various tool sizes and shapes while ensuring accurate and repeatable actuation.
Innovation Solution
A tool exchange mechanism with mounts, rotational and translational actuators, and tool collars that allow for secure, low-force removal and replacement of surgical instruments, accommodating arbitrary tool sizes and shapes, and providing a common interface for precise alignment and actuation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple surgical instruments are exchanged through limited entry sites, then surgical functionality is improved, but tool exchange time and complexity increase
Solution Approach 1:
The patent implements a universal tool collar interface that can accommodate multiple different surgical instruments through a single standardized mounting mechanism. The tool collar serves as a multi-functional component that can securely hold various instruments including cutters, probes, and dispensers, eliminating the need for multiple specialized mounting mechanisms and enabling rapid instrument exchange through a unified interface
Solution Approach 2:
The patent employs a nested structure where the tool collar is positioned within the tool carriage, and instruments are inserted into the collar. This nested arrangement allows for compact storage of multiple instruments and streamlined exchange operations, where the collar acts as an intermediate container that simplifies the insertion and removal process through the limited entry sites
2Productivity
If tools are rapidly exchanged, then surgical efficiency is improved, but positioning precision and repeatability deteriorate
Solution Approach 1:
The patent incorporates pre-configured alignment features in the tool collar and carriage interface, including precision-machined bearing surfaces and geometric constraints that automatically establish correct tool positioning upon insertion. This preliminary preparation of alignment mechanisms ensures that rapid instrument exchange does not compromise positioning precision, as the correct orientation and location are established by the mechanical interface itself rather than requiring post-exchange calibration
Solution Approach 2:
The patent replaces manual alignment and calibration procedures with a mechanically constrained interface system. The tool collar and carriage incorporate geometric constraints and self-aligning features that automatically ensure precise positioning through mechanical means, eliminating the need for time-consuming manual calibration while maintaining high positioning repeatability across rapid exchange cycles
3Measurement precision
If custom-designed tool collars and mounts are rigidly secured, then positioning accuracy is improved, but calibration time and device complexity increase
Solution Approach 1:
The patent designs the tool collar and carriage interface with self-aligning geometric constraints that automatically establish precise positioning without requiring external calibration procedures. The mechanical interface itself performs the alignment function, with features such as constrained mounting surfaces and geometric relationships that ensure repeatable accuracy inherent to the design, eliminating the need for separate calibration steps and reducing overall system complexity
Data Source
AI summary
A system for intraocular robotic surgery includes: (1) a set of mounts to receive a tool collar to which a surgical tool is secured; (2) a rotational actuator connected to the set of mounts to drive rotation of the set of mounts; and (3) a translational actuator connected to the set of mounts to drive linear translation of the set of mounts.