Magnetic Lock Sensing for Sterile Robotic Tool Coupling
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Solution Overview
Problem
Designing a gear system that maintains the sterility of a tool holder while allowing easy coupling to an end effector, which is typically not sterile, is challenging in surgical robotic systems.
Innovation Solution
A tool holder with two gears coupled to a shaft, surrounded by a sterile barrier such as an elastomeric ring, facilitates coupling to an end effector, ensuring the tool holder remains sterile during a surgical procedure despite the end effector's non-sterile state, and includes a magnetic system for automated coupling and tool identification.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a gear system is designed to allow easy coupling between tool holder and end effector, then coupling ease is improved, but maintaining sterility of the tool holder becomes more difficult
Solution Approach 1:
The system is divided into two distinct segments: a sterile tool holder and a non-sterile end effector, separated by a sterile barrier. This segmentation allows each component to have different sterility requirements while maintaining overall system functionality. The tool holder can be sterilized independently and remains sterile through the sterile barrier, while the end effector can be easily exchanged without sterilization.
Solution Approach 2:
A sterile barrier acts as an intermediary element between the sterile tool holder and the non-sterile end effector. This barrier (such as a sterile drape or membrane) allows mechanical coupling and force transmission while preventing contamination, enabling easy coupling operations without compromising sterility.
2Reliability
If a sterile barrier is introduced to maintain sterility, then sterility maintenance is improved, but device complexity increases
Solution Approach 1:
The sterile barrier is implemented as a flexible thin film or membrane that can be integrated into the existing gear system without adding significant structural complexity. This flexible barrier allows for simple implementation while effectively maintaining sterility through its physical separation function.
3Reliability
If automated coupling verification is implemented using magnetic sensing, then coupling reliability is improved, but device complexity increases
Solution Approach 1:
The mechanical coupling verification process is replaced with a magnetic sensing system. Magnetic sensors detect the presence and position of magnetic elements on the end effector, providing automated verification of proper coupling. This substitution eliminates the need for complex mechanical interlocks or manual verification procedures.
Solution Approach 2:
The magnetic sensing system enables the tool holder to automatically verify coupling status without external intervention. The sensor continuously monitors the magnetic field, and the system can automatically detect improper coupling or tool removal, providing self-verification functionality.
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 system maintains sterility of the tool holder, allows easy coupling to the end effector, and enables automated verification of coupling and tool identification, enhancing surgical robotic system hygiene and efficiency.
Implementation Method 1
The end effector includes a magnetic sensor. The tool holder includes a magnet that produces a magnetic field... the magnetic sensor is configured to output a signal in response to the magnetic field... output a signal indicative of changes in the magnetic field, as sensed by the magnetic sensor
Data Source
AI summary
Apparatus and method are described for operating a tool and for use with a robotic arm. A tool holder is configured to hold the tool. An end effector is configured to mount onto the robotic arm and to couple to the tool holder while mounted onto the robotic arm. The end effector includes a lock, configured to transition between a locked state, in which the lock locks the tool holder to the end effector, and an unlocked state, in which the lock does not lock the tool holder to the end effector, and comprising a magnet that produces a magnetic field. A magnetic sensor is configured to output a signal indicative of changes in the magnetic field, as sensed by the magnetic sensor, resulting from the lock transitioning between the locked state and the unlocked state. Other applications are also described.