Multi-Side Actuator Interface for Surgical Robot Drape Stress
Find Innovative SolutionsGenerate Solutions
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, restricting the distribution of mechanical inputs and increasing the risk of drape deformation during instrument actuation.
Innovation Solution
The design features a surgical instrument with mechanical actuators arranged on multiple sides of the proximal end, allowing for the distribution of actuation forces across multiple surfaces, enabling the use of instruments or adapters of varying sizes and reducing stress on the sterile drape by positioning actuators on more than one side, face, or plane, with electromechanical actuators in the manipulator arm transferring motion to these actuators.
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 proximal housing. This spatial redistribution allows the system to accommodate instruments of varying sizes and geometries while maintaining balanced force distribution and reducing stress concentration on the sterile drape.
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 forces by distributing multiple actuators across different sides of the proximal housing rather than concentrating them on one side. This segmentation of the actuation system allows forces to be applied more uniformly across the sterile drape, preventing stress concentration and potential deformation while maintaining overall system simplicity.
3Reliability
If actuators are arranged on multiple sides of the proximal end, then the distribution of mechanical inputs is improved and drape stress is reduced, but the device complexity increases
Solution Approach 1:
The patent creates a universal actuator interface configuration where multiple actuators on multiple sides can work together to control various degrees of freedom (jaw actuation, pitch, roll, yaw). This multi-functional arrangement improves reliability by distributing mechanical inputs and preventing drape deformation, while the modular design keeps the overall complexity manageable through standardized interfaces.
Data Source
AI summary
A robotic system assembly comprises a robotic manipulator including an actuator assembly and a surgical instrument having a base body mountable to the actuator assembly. The base includes a first control input and a second control input, wherein the first and second control inputs are positioned on different sides of the base. The actuator assembly is moveable between open and closed positions to facilitate removal and replacement of surgical instruments. When in the closed positions, drive elements of the actuator assembly are positioned to drive the first and second control inputs of the surgical instrument to cause end effector movement or actuation.