Patient Introducer Alignment for Robotic Manipulator Assemblies
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Solution Overview
Problem
Existing surgical robotic systems face challenges in aligning the patient introducer with the manipulator assembly, leading to issues such as elevated friction, limited stroke length, and the need for manual assistance during procedures due to misalignment.
Innovation Solution
A patient introducer with an alignment member and complementary markings on the manipulator assembly, facilitating rotational alignment through physical contact and additional alignment techniques like RFID, laser tracking, and magnetic sensors to ensure precise alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the patient introducer is connected to the manipulator assembly without alignment features, then the device complexity is reduced, but the alignment accuracy deteriorates leading to elevated friction and limited stroke length
Solution Approach 1:
The alignment member is pre-formed with a shape that is complementary to the manipulator assembly interface, allowing automatic geometric alignment upon connection. This preliminary shaping of the alignment member enables precise rotational alignment without requiring complex active alignment mechanisms during the procedure.
Solution Approach 2:
The alignment member incorporates an asymmetric shape with specific geometric features that are complementary to the manipulator assembly interface. This asymmetry ensures proper rotational orientation and prevents misalignment, achieving precise alignment accuracy through simple geometric complementarity rather than complex active control systems.
2Manufacturing precision
If alignment markings and complementary shapes are added to the patient introducer and manipulator assembly, then the alignment accuracy is improved, but the device complexity increases
Solution Approach 1:
The alignment features including complementary shapes and alignment markings are pre-formed during manufacturing of the patient introducer and manipulator assembly components. This preliminary preparation of alignment features enables precise rotational alignment to be achieved automatically upon connection, eliminating the need for complex active alignment procedures during surgical use.
Solution Approach 2:
The patent replaces complex active mechanical alignment systems with passive geometric alignment through complementary shapes and visual alignment markings. This substitution achieves precise rotational alignment through simple geometric complementarity and visual cues rather than requiring complex active mechanical control mechanisms.
3Ease of operation
If the patient introduces is misaligned with the manipulator assembly, then the ease of operation is reduced due to manual assistance requirements, but adding alignment features increases the device complexity
Solution Approach 1:
The alignment member with complementary shape and alignment markings is prepared in advance on the patient introducer. This preliminary preparation enables the manipulator assembly to be automatically and precisely aligned during connection, eliminating the need for manual alignment assistance and improving ease of operation without requiring complex active alignment systems.
Solution Approach 2:
The complementary geometric shapes and alignment markings enable the patient introducer and manipulator assembly to self-align automatically upon connection. This self-alignment mechanism eliminates the need for manual alignment assistance, improving ease of operation through passive geometric complementarity rather than requiring complex active alignment control systems.
Data Source
AI summary
A patient introducer for use with a surgical robotic system is disclosed. In one aspect, the patient introducer may include an introducer tube extending between (i) a distal end connectable to a port and (ii) a proximal end configured to receive a surgical tool. The introducer tube may be configured to guide the surgical tool into the port. The patient introducer may also include an alignment member connected to the introducer tube and including a first shape and a first alignment marking. The alignment member may be configured to interface with a manipulator assembly of a robotic system. The manipulator assembly may include a second shape and a second alignment marking, the first shape being complementary to the second shape. The first alignment marking of the alignment member may facilitate rotational alignment of the alignment member and the manipulator assembly.