Magnetic Trocar Docking for Precise Robotic Arm Alignment
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Solution Overview
Problem
Existing trocar docking systems for robotic surgery face challenges such as precise alignment difficulties, interference from sterile barriers, and reduced trocar lifespan due to electrically-powered components, which hinder accurate and reliable robotic arm attachment.
Innovation Solution
The use of non-electrically powered magnets in the trocar to generate magnetic fields, sensed by a sensor system, allows for precise robotic arm alignment and docking without line-of-sight requirements, ensuring robust trocar configuration and extended lifespan.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If visual sensors are used to guide the robotic arm to the trocar, then alignment precision is improved, but the system is blocked by sterile barriers or drapes
Solution Approach 1:
The patent replaces visual sensing mechanisms with magnetic field-based sensing. Magnets embedded in the trocar generate magnetic fields that are detected by sensors on the robotic arm, enabling alignment and docking without requiring line-of-sight visual contact. This substitution eliminates the blocking effect of sterile barriers while maintaining precise positioning capability.
2Measurement precision
If electrically-powered components are used on the trocar for sensing, then docking accuracy is improved, but the trocar lifespan is reduced due to degradation
Solution Approach 1:
The patent employs magnets as the sensing component on the trocar. Magnets are passive, non-consumable elements that do not degrade through sterilization or repeated use unlike electrically-powered components. This allows the trocar to maintain its sensing capability throughout its service life without component degradation, effectively extending usable lifespan while preserving docking accuracy.
3Device complexity
If manual maneuvering is used to align the robotic arm with the trocar, then device complexity is reduced, but alignment precision deteriorates
Solution Approach 1:
The patent implements magnetic field sensing that provides real-time feedback to the robotic arm positioning system. The sensors detect the magnetic field generated by magnets in the trocar, enabling the control system to automatically adjust the robotic arm's position and orientation to achieve precise alignment with the docking interface, thereby improving alignment precision while maintaining relatively simple system architecture.
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
Magnetic sensing enables accurate and precise robotic arm docking, overcoming alignment issues and reducing component degradation, thereby enhancing the reliability and versatility of trocar systems.
Implementation Method 1
The use of magnets, for example, non-electrically powered magnets such as permanent magnets, in the trocar can provide magnetic fields for sensing by a sensor system
Data Source
AI summary
A trocar (1) has a pipe part (11) and a stowable camera (17). The pipe part (11) has an opening (13) on the side surface thereof. A wiper blade (21) is fixed to the trocar (1) tip side end of the opening (13). The camera (17) is rotatably fixed to the pipe part (11) and extends to the outside of the pipe part (11) as a result of being impelled by a torsion spring (22). When a surgeon manipulates a switching mechanism (16), the camera (17), against to the impelling by the torsion spring (22), passes through the opening (13) and rotates into the pipe part (11). When the surgeon releases the switching mechanism (16), the torsion spring (22) rotates the camera (17) to the outside of the pipe (11) via an opening (13). When the camera (17) rotates, the lens of the camera (17) slides over the wiper blade (21). At this time, the wiper blade (21) removes clouding and organic matter from the lens.