Nested Surgical Instrument Drive Mechanism for Cable Management
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Solution Overview
Problem
Existing robotic surgical systems face difficulties in the connection and removal of surgical instruments due to entangled cables and complex engagement mechanisms, which restrict the degrees of freedom and ease of use.
Innovation Solution
The surgical assembly features a nested design with rotatable driving members and actuators, allowing for independent axial movement and reduced cable entanglement, along with a threaded trocar shaft and nut mechanism for easier attachment and detachment of surgical instruments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If surgical instruments are connected to instrument drive units with traditional engagement mechanisms, then the connection can be made, but the connection and removal process becomes difficult and time-consuming
Solution Approach 1:
The instrument drive unit is divided into modular components including a drive unit body, instrument receptacle, and interchangeable instrument modules. Each instrument can be independently attached or detached without affecting other instruments, enabling quick exchange through simple alignment and engagement of standardized interfaces.
Solution Approach 2:
A standardized interface mechanism acts as an intermediary between the instrument drive unit and surgical instruments. This interface includes complementary geometric features that guide alignment and enable rapid engagement, serving as a mediator that simplifies the connection process between different components.
2Adaptability or versatility
If cables are routed through traditional pathways during instrument rotation, then actuation functions can be transmitted, but cables become entangled
Solution Approach 1:
Cables are enclosed within flexible protective sheaths that allow bending and rotation without entanglement. These flexible conduits maintain cable organization while accommodating the full range of motion required for surgical instrument operation, preventing cables from becoming tangled during rotation.
Solution Approach 2:
Cable routing is reorganized from a planar arrangement to a three-dimensional spatial configuration. Cables are routed through multiple dimensions and levels within the instrument structure, allowing them to move independently in different spatial planes, which prevents entanglement while maintaining adaptability.
3Volume of moving object
If the instrument drive unit size is reduced to improve system compactness, then the system becomes more compact, but the mechanism complexity increases
Solution Approach 1:
Components are arranged in a nested configuration where smaller elements are positioned within larger ones. The instrument receptacle is nested within the drive unit body, and internal mechanisms are concentrically arranged, maximizing space utilization and reducing overall volume while maintaining functional simplicity.
Solution Approach 2:
Multiple functions are combined into integrated components. The instrument receptacle serves both as a mounting structure and as part of the actuation mechanism, while the interface features simultaneously provide alignment, retention, and actuation functions, reducing the number of separate parts needed.
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
This design enhances the ease of instrument attachment and detachment, reduces cable entanglement, and provides greater freedom of movement for surgical instruments, improving the operational efficiency of robotic surgical systems.
Implementation Method 1
Each actuator may include a cannulated cylindrical portion and an arm extending transversely from the cylindrical portion. The cylindrical portions are concentrically disposed with one another. Each arm may define a threaded passageway extending therethrough. Each driving member of the plurality of driving members may be threadingly coupled to a respective one of the threaded passageways of the plurality of actuators.
Data Source
AI summary
A surgical instrument is configured for coupling with an instrument drive unit that drives an actuation of the surgical instrument and operatively supports the surgical instrument. The surgical instrument includes a housing, an elongate body extending distally from the housing, an end effector extending distally from the elongate body, and a plurality of driven members rotatably disposed within the housing. The plurality of driven members is nested with one another. Each driven member of the plurality of driven members is coupled to a respective cable that is attached to the end effector. The plurality of driven members is configured for engagement with an instrument drive unit.