Automated Alignment of Medical Instrument Inputs
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Solution Overview
Problem
Existing medical systems face challenges in aligning inputs of medical instruments with corresponding output shafts of drive mechanisms, leading to inefficiencies and user experience issues during procedures like laparoscopic and endoscopic surgeries.
Innovation Solution
A robotic medical system with an instrument drive mechanism that includes output shafts, motors, and a data reader, along with a method for receiving alignment data from a tool to rotate the output shafts into alignment with the tool's inputs, facilitating precise mechanical coupling and reducing the need for manual alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual alignment of medical instrument inputs with drive mechanism output shafts is performed, then the coupling can be achieved, but the alignment precision is poor and excessive force is required
Solution Approach 1:
The patent replaces manual mechanical alignment with an automated optical/electronic alignment system. A camera captures images of alignment marks on both the medical instrument and drive mechanism, and a processor automatically calculates and executes the precise alignment, eliminating the need for manual mechanical adjustment and excessive force application.
Solution Approach 2:
The system performs self-alignment by automatically detecting the positions of alignment marks on both components, calculating the required adjustment, and executing the alignment without operator intervention. The drive mechanism autonomously adjusts its position based on the calculated alignment parameters.
2Measurement precision
If automated alignment system with data reader and camera is implemented, then alignment precision is improved, but device complexity increases
Solution Approach 1:
The camera and data reader serve multiple functions: they capture alignment mark positions, identify component types, and provide data for the processor to calculate alignment parameters. This multi-functionality reduces the need for separate specialized components, thereby limiting the increase in system complexity.
3Productivity
If alignment data is transmitted and processed automatically, then alignment speed is improved, but loss of time for data processing occurs
Solution Approach 1:
The alignment marks are pre-positioned on the medical instrument and drive mechanism during manufacturing. The data reader and camera are pre-configured to recognize these marks. When coupling is needed, the system simply needs to capture the images and process the pre-defined mark patterns, significantly reducing data processing time compared to creating and interpreting alignment data from scratch.
Data Source
AI summary
Certain aspects relate to systems and techniques for aligning inputs on medical instruments. In one aspect, the method includes receiving, at a data reader of the instrument drive mechanism, alignment data from the tool when the tool is positioned within a threshold distance of the data reader. The tool include one or more inputs and one or more pull wires configured to be actuated by output shafts of the instrument drive mechanism via the one or more inputs. The method also includes receiving, at a processor, the alignment data from the data reader, and rotating, via the processor, the one or more output shafts of the instrument drive mechanism into alignment with the one or more inputs of the tool based on the alignment data. Each of the output shafts is configured to mechanically couple with a corresponding one of the inputs of the tool.