Robotic Patient Introducer Alignment for Low-Friction Tool Stroke
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Solution Overview
Problem
Existing surgical robotic systems face challenges in aligning patient introducers with manipulator assemblies, leading to issues such as elevated friction, limited stroke length, and the need for manual assistance during procedures due to misalignment.
Innovation Solution
A patient introducer equipped with an alignment member and complementary markings on the manipulator assembly, facilitating rotational alignment by ensuring geometrically defined six degrees of freedom, including physical contact and alignment markings to enhance precision and ease of alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual alignment methods are used, then alignment can be achieved, but friction increases and stroke length is limited
Solution Approach 1:
The alignment member and complementary markings on the manipulator assembly enable self-alignment through geometric constraints. The shaped alignment member physically guides the manipulator assembly into the correct rotational orientation without requiring manual adjustment or external assistance, allowing the system to align itself automatically.
Solution Approach 2:
The alignment member incorporates a specific asymmetric shape that complements a corresponding asymmetric feature on the manipulator assembly. This asymmetric geometry creates a unique fit that automatically defines the correct rotational alignment, eliminating the need for manual positioning and reducing friction by ensuring proper engagement from the start.
2Measurement precision
If alignment markings are added, then rotational alignment precision improves, but device complexity increases
Solution Approach 1:
The alignment markings utilize visual differentiation through color or contrasting patterns on the alignment member and manipulator assembly. These visual cues enable rapid visual alignment and confirmation of rotational orientation without requiring complex mechanical structures, maintaining simplicity while improving precision.
Solution Approach 2:
The alignment system is segmented into distinct visual or physical markers on the alignment member and corresponding markers on the manipulator assembly. This segmentation allows for simple, discrete alignment features that can be easily manufactured and assembled, avoiding the need for complex integrated alignment mechanisms.
3Adaptability or versatility
If geometrically defined six degrees of freedom are implemented, then full range of motion is achieved, but alignment difficulty increases
Solution Approach 1:
The alignment member and manipulator assembly features are pre-configured with complementary geometries that automatically guide the assembly into the correct six-degree-of-freedom orientation. This preliminary geometric configuration eliminates the need for complex alignment procedures during operation, as the components self-align to achieve full range of motion.
Data Source
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AI summary
A patient introducer for use with a surgical robotic system is disclosed. In one aspect, the patient introducer may include an introducer tube (307) extending between (i) a distal end connectable to a port and (ii) a proximal end configured to receive a surgical tool. The introducer tube (307) may be configured to guide the surgical tool into the port. The patient introducer may also include an alignment member (309) connected to the introducer tube and including a first shape and a first alignment marking. The alignment member (309) may be configured to interface with a manipulator assembly (190) of a robotic system. The manipulator assembly may include a second shape and a second alignment marking, the first shape being complementary to the second shape. The first alignment marking of the alignment member may facilitate rotational alignment of the alignment member and the manipulator assembly.