Modular Drive Actuation Through Sterile Barrier
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Solution Overview
Problem
Robotic interventional systems face challenges in maintaining sterility during surgical procedures, as existing sterile adapters are complex and cumbersome, making it difficult to replace surgical tools without breaking the sterile barrier, which hinders efficient tool exchange and increases the risk of contamination.
Innovation Solution
A modular drive system with a wave generating cam and flexible spline gear configuration that allows for the transfer of motion from a motor to a medical tool without direct contact, enabling the removal and replacement of surgical tools while maintaining sterility, and includes a sterilizable drape portion to preserve the sterile field.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a sterile adapter is added to allow tool exchange without breaking the sterile barrier, then sterility is maintained, but the device complexity and cost increase
Solution Approach 1:
The sterile adapter is divided into separate functional components: a sterile barrier portion (drape) and a drive interface portion (flexible spline gear). This segmentation allows the sterile barrier to be simple and disposable while the complex drive interface remains separate and reusable, reducing overall system complexity.
Solution Approach 2:
The flexible spline gear acts as an intermediary element between the non-sterile motor assembly and the sterile surgical tool. It transfers rotational motion across the sterile barrier without requiring direct contact between non-sterile and sterile components, enabling tool exchange while maintaining sterility.
2Measurement precision
If conventional drive mechanisms with motors and gears are used, then precise control is achieved, but servicing and motor replacement become difficult
Solution Approach 1:
The drive system is segmented into a reusable motor assembly with wave generating cam and a disposable flexible spline gear. The flexible spline gear can be quickly removed and replaced without servicing the motor or other components, enabling easy repair and maintenance while preserving precision control.
Solution Approach 2:
The flexible spline gear is designed as a disposable component that can be easily discarded when worn or damaged, while the more complex motor assembly is recovered and reused. This approach simplifies maintenance by allowing replacement of only the inexpensive, easily replaceable gear component.
3Reliability
If the entire robotic assembly is sterilized, then sterility is ensured, but the complexity and cost of sterilization increases
Solution Approach 1:
The system is divided into sterile and non-sterile zones separated by a sterile barrier. The flexible spline gear and drape portion can be sterilized independently as simple components, while the complex motor assembly remains in the non-sterile zone, eliminating the need to sterilize the entire robotic assembly.
Solution Approach 2:
The flexible spline gear serves as a transfer mechanism that allows the non-sterile motor assembly to drive sterile surgical tools without requiring the motor itself to contact the sterile field. This intermediary approach enables sterility assurance through simple barrier components rather than complex sterilization of the entire system.
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
Enables efficient and sterile exchange of surgical tools during procedures, reducing the complexity of sterile adapters and maintaining precision control, while allowing for modular and portable surgical tool interactions with the patient.
Implementation Method 1
a wave generating cam (the cam may be a traditional cam or may include one or more moveable surfaces, or other features to assist in transfer of motion from the motor to the drive mechanism)
Implementation Method 2
an interior of the cup shape removably engages the wave generating cam such that the wave generating cam deforms a portion of the cup. Continued rotation of the wave generating mechanism moves the deformed portion along the gear drive
Data Source
AI summary
The invention relates generally to robotically controlled systems, such as medical robotic systems. In one variation, a robotic catheter system is configured with a sterile barrier capable for transmitting a rotary force from a drive system on one side of the barrier to surgical tool on the other side of the sterile barrier for performing minimally invasive diagnostic and therapeutic procedures. Modularized drive systems for robotics are also disclosed herein.