Modular Robot Connector for Precise Surgical Tool Swapping
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Solution Overview
Problem
Computer-assisted surgical systems face challenges with misalignment and sterility issues due to changes in end effectors, which can lead to errors and damage the drape, necessitating improved systems for securely attaching and swapping different surgical tools without affecting navigational precision.
Innovation Solution
A modular robot connector system with a guiding insert, guide tube holder, and locking mechanism that allows for secure attachment and swapping of guide tubes of varying sizes, maintaining stability and accuracy by using a single locking mechanism to lock the guide tube to the robot arm, thereby reducing the need for recalibration and minimizing drape damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If end effectors are changed for the robot arm, then different surgical tools can be used, but misalignment and navigational precision are affected
Solution Approach 1:
The connector is divided into multiple segments: a fixed connector body attached to the robot arm, a removable guiding insert, and a locking mechanism. This segmentation allows the guiding insert to be changed for different tools while the connector body remains fixed, maintaining navigational precision reference points.
Solution Approach 2:
The connector body is pre-attached to the robot arm with fixed reference points for navigational tracking. This preliminary action ensures that the base reference frame remains stable, allowing tool changes without affecting overall system precision.
2Adaptability or versatility
If end effectors are changed for the robot arm, then different surgical tools can be used, but the drape may be damaged and sterility compromised
Solution Approach 1:
The connector system is segmented into a permanent connector body and removable guiding insert components. This allows tool changes through simple insert replacement rather than complete end effector removal, minimizing contact with and potential damage to the surgical drape.
Solution Approach 2:
The guiding insert acts as an intermediary component between the connector body and the surgical tool. It can be quickly exchanged without removing the entire end effector assembly, reducing the frequency and extent of drape contact and potential damage.
3Adaptability or versatility
If guide tubes of varying sizes are attached to the robot arm, then different surgical steps can be accommodated, but alignment errors may occur
Solution Approach 1:
The connector body maintains fixed, high-precision reference features for navigational tracking, while the guiding insert provides variable local adaptations for different guide tube sizes. This separation ensures that precision-critical elements remain fixed while adaptability is provided by replaceable components.
Solution Approach 2:
The connector body serves as a universal base that can accommodate multiple guiding inserts of different sizes through standardized interfaces. This multi-functionality allows various guide tube configurations while maintaining consistent alignment reference points on the connector body.
4Adaptability or versatility
If the connector is removed and reattached for tool swaps, then different tools can be used, but recalibration is required
Solution Approach 1:
The system is segmented into a permanent connector body and removable guiding inserts. Only the lightweight guiding insert needs to be removed and replaced for tool swaps, not the entire connector or end effector. This minimizes the time and complexity of recalibration procedures.
Solution Approach 2:
The connector body is pre-calibrated and permanently attached to the robot arm with fixed reference points. This preliminary calibration action eliminates the need for repeated full-system recalibration, requiring only simple insert changes for different tools.
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 enhances the stability and accuracy of computer-assisted surgical systems by allowing secure attachment and swapping of guide tubes without removing the connector, reducing the risk of drape damage and minimizing recalibration, thus maintaining precision during surgical procedures.
Implementation Method 1
a locking mechanism configured to lock the guiding insert and the guide tube to the connector
Data Source
AI summary
A robot connector, including: a connector configured to connect to a mounting surface of a robot; a guiding insert that is compressible, wherein the guiding insert has an opening configured to receive a guide tube; a guide tube holder with an opening wherein the guide tube is attached to the connector and the opening is configured to receive the compressible guiding insert; and a locking mechanism configured to lock the guiding insert and the guide tube to the connector.