Modular Robotic Interface for Sterile Instrument Coupling
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Solution Overview
Problem
Current robotic surgical systems face limitations in motion range and complexity due to coupling mechanisms, which hinder free movement and increase the risk of collisions, and require cumbersome sterile barriers that complicate assembly and increase costs.
Innovation Solution
A modular, sterilizable medical robotic system with a 360-degree rotating support assembly and simplified draping mechanism, allowing independent movement of surgical instruments and reducing the complexity of sterile adaptors, enabling unobstructed motion and enhanced precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a coupling mechanism with driving unit is used to transfer controlling motions from robotic arm to surgical instrument, then motion control and sterility are improved, but the range of motion is limited and device complexity increases
Solution Approach 1:
The system is divided into distinct segments: a non-sterile robotic arm, a sterile barrier (drape), and a sterile surgical instrument. The coupling mechanism is separated into a non-sterile driving unit on the robotic arm side and a sterile interface on the instrument side, connected through the sterile barrier. This segmentation allows each component to be optimized independently while maintaining overall system functionality and sterility.
Solution Approach 2:
A sterile barrier (drape) acts as an intermediary element between the non-sterile robotic arm and the sterile surgical instrument. The drape includes a flexible interface that transmits motion and force while maintaining the sterile boundary. This intermediary allows motion transfer without compromising sterility or requiring complex sterile coupling mechanisms.
2Reliability
If a sterile barrier with drape interface is used to separate non-sterile robotic arm from sterile surgical instrument, then sterility is maintained, but the drape may get entangled and interfere with instrument motion
Solution Approach 1:
The drape interface is designed with dynamic flexibility, allowing it to adapt its shape and movement characteristics in response to the motion of the surgical instrument. The flexible material and construction enable the drape to move smoothly without creating resistance or entanglement, maintaining sterility while facilitating full instrument mobility.
3Reliability
If complex sterile adaptors with intricate components are used to couple manipulator arm with surgical instrument, then sterility and motion transfer are improved, but assembly complexity and cost increase
Solution Approach 1:
The sterile adapter integrates multiple functions into a single unified component: it provides the sterile barrier interface, transmits motion from the robotic arm, couples to the surgical instrument, and maintains sterility boundaries. This merging eliminates the need for separate complex components for each function, simplifying assembly while maintaining reliability.
Solution Approach 2:
The sterile adapter is designed as a universal interface that can accommodate different surgical instruments while maintaining the same sterile barrier and motion transfer capabilities. This multi-functionality reduces the need for multiple specialized components and simplifies the overall coupling system.
4Adaptability or versatility
If robotic arm traverses broader course to compensate for limited coupling motion, then coupling motion freedom is improved, but probability of conflict between arms increases
Solution Approach 1:
By segmenting the system into non-sterile robotic arm and sterile instrument portions connected through a flexible sterile barrier, the robotic arm can move through a broader range of motions without being constrained by sterility requirements. This allows the arm to traverse necessary courses without compromising coupling motion freedom or increasing collision risk.
Data Source
AI summary
The disclosure is directed to a medical robotic system and method for releasably securing a medical instrument over a modular support assembly that is further removably coupled to the manipulating arm via an intermediate fastening component. The medical instrument is configured for delivery through a small percutaneous penetration in a patient as it slides over the modular support assembly, independent of the manipulating arm. The robotic system further includes a simplified draping mechanism including covering the manipulating arm up to the fastening component thereby obviating the need for extensive sterile drape that extends all over the arm up to the support interface and the cannula holding assembly in existing art. Advantageously, the present invention allows for a quick and simple installation while allowing for free rotary motion of the support assembly.