Offset Instrument Drive Unit Linkage for Robotic Surgery
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Solution Overview
Problem
Current robotic surgical systems face difficulties in the easy and efficient attachment and removal of surgical instruments from instrument drive units, leading to usability challenges.
Innovation Solution
The implementation of an instrument drive unit with a linkage member and drive member system, allowing for actuation and movement of surgical instruments through a system of actuators, linkage members, and drive members, enabling detachable coupling and efficient operation of surgical instruments on robotic arms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If surgical instruments are detachably coupled to instrument drive units, then ease of operation is improved, but device complexity increases
Solution Approach 1:
The instrument drive unit is divided into separable components including the instrument interface, linkage members, and drive members that can be detachably coupled to surgical instruments. This segmentation allows the instrument to be easily attached and removed while maintaining a structured connection system through standardized interfaces.
Solution Approach 2:
Linkage members serve as intermediary components between the actuators and drive members, facilitating the transfer of motion and force. These linkage members enable the detachable coupling mechanism to function smoothly by mediating the interaction between the instrument interface and the drive train, simplifying the attachment process.
2Productivity
If actuators are operatively coupled to linkage members, then productivity is improved, but device complexity increases
Solution Approach 1:
The linkage members are configured to dynamically transmit motion from the actuators to the drive members, allowing for flexible and efficient actuation of the surgical instrument. The dynamic coupling enables rapid response to actuator commands while maintaining mechanical advantage through the linkage geometry.
Solution Approach 2:
Multiple actuators are merged with the linkage member system to provide coordinated actuation of the surgical instrument. The linkage members combine the motion outputs of multiple actuators into unified drive actions, improving productivity through synchronized operation while managing complexity through integrated mechanical design.
3Measurement precision
If drive members are operatively coupled to end effector, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The drive members replace direct mechanical coupling with a more sophisticated transmission system that includes cable-driven or linkage-based mechanisms. This substitution allows for precise control of the end effector while reducing the complexity of direct mechanical connections, as the drive members can transmit motion through flexible or articulated pathways.
Data Source
AI summary
A surgical system for selective connection to a robotic arm includes an instrument drive unit and a surgical instrument detachably coupled to the instrument drive unit. The instrument drive unit includes a first actuator, a linkage member having opposing first and second portions, and a drive member. The first portion of the linkage member is operatively coupled to the first actuator such that actuation of the first actuator moves the first portion in a first direction and the second portion in a second direction opposite of the first direction. The drive member is operatively coupled to the second portion of the linkage member. The surgical instrument includes a driven member operatively associated with the drive member of the instrument drive unit and an end effector operatively coupled with the driven member, wherein translation of the driven member effects a first function of the end effector.