Multi-Side Actuation Carriage for Surgical Robots
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Solution Overview
Problem
Current surgical robotic systems often have mechanical control interfaces where actuators are limited to one side of the instrument, which can lead to stress concentration on the sterile drape and limited flexibility in accommodating instruments of varying sizes, and do not effectively distribute forces and deflections from actuators.
Innovation Solution
The design includes a surgical instrument with mechanical actuators arranged on multiple sides of the proximal end, allowing for compact configuration and engagement with instruments or adapters of varying sizes, with actuators positioned on opposite sides to distribute forces and facilitate the transfer of multiple mechanical inputs, while maintaining sterility through a drape interface.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If actuators are positioned on one side of the instrument, then the device complexity is reduced, but the stress on the sterile drape increases and the adaptability to instruments of varying sizes is limited
Solution Approach 1:
The patent transitions from a single-plane actuator arrangement to a multi-dimensional configuration where actuators are distributed across multiple sides of the instrument. This spatial redistribution allows the system to accommodate instruments of varying sizes and geometries while maintaining manageable device complexity through modular actuator modules.
2Device complexity
If actuators are positioned on one side of the instrument, then the device complexity is reduced, but the stress concentration on the sterile drape increases
Solution Approach 1:
The patent segments the actuator system into multiple independent actuator modules distributed across different sides of the instrument. This segmentation distributes the mechanical forces and stresses across multiple contact points on the sterile drape, preventing stress concentration that would occur with a single-sided actuator configuration.
3Adaptability or versatility
If actuators are arranged on multiple sides of the instrument, then the adaptability to instruments of varying sizes is improved, but the device complexity increases
Solution Approach 1:
The patent implements universal actuator modules that can be configured to work with instruments of varying sizes and types. These modular actuators provide multi-functional capability, allowing the same basic actuator design to serve multiple instrument configurations, thereby improving adaptability without proportionally increasing overall device complexity.
4Force
If actuators are arranged on multiple sides of the instrument, then the force distribution is improved, but the device complexity increases
Solution Approach 1:
The patent segments the actuation system into multiple independent modules positioned on different sides of the instrument. This segmentation enables better force distribution across the instrument and sterile drape interface, as each actuator module contributes to the overall force balance. The modular design manages the increased complexity through standardized components and systematic arrangement.
Data Source
AI summary
A robotic system assembly has an actuator assembly with a pair of motors and corresponding carriages linearly advanceable in response to activation of the motors. A surgical instrument having a surgical end effector is removably mountable to the actuator assembly, and includes first and second drive inputs at its proximal end, each of which is linearly moveable relative to the surgical instrument's shaft to actuate the surgical end effector by altering tension on a corresponding actuation tendon. Force sensors are positioned on the actuation carriages to generate feedback corresponding to forces along the control axes of the carriages.