Quick-Release Surgical End Effectors for Port-Free Tool Exchange
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Solution Overview
Problem
Existing robotic surgical systems face limitations due to the need to remove and insert surgical tools through access ports, which restricts scope and complexity, and are hindered by size, cost, and limited sensory and mobility capabilities.
Innovation Solution
Development of quick-release end effectors and related systems that allow for easy coupling and uncoupling of medical device components, such as arms and forearms, using mechanisms like rotatable cylinders, linear drive components, and magnetic couplings to facilitate tool exchange without disrupting the surgical field.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If surgical tools are removed and inserted through access ports, then tool exchange is possible, but surgical scope and complexity are limited due to port size constraints
Solution Approach 1:
The system divides the robotic arm into modular segments (forearm, end effector, drive components) that can be independently exchanged. The forearm contains self-contained drive mechanisms that interface with the end effector through standardized coupling interfaces, allowing tool exchange without moving the entire robotic system through access ports.
Solution Approach 2:
The end effector is nested within the forearm structure, with the forearm housing drive components (cylinders, lead screws, belts) that directly interface with the end effector. This nested arrangement allows the end effector to be exchanged while the forearm remains in place, eliminating the need to insert long tools through access ports.
2Adaptability or versatility
If robotic systems are made larger to improve capabilities, then sensory and mobility capabilities improve, but system size and cost increase
Solution Approach 1:
The robotic system is segmented into compact modular units (end effector, forearm with integrated drives). Each module contains only the necessary components for its function, reducing overall system size while maintaining capabilities. The modular design allows high-capacity sensors and actuators to be distributed across small, exchangeable units rather than concentrated in a large central system.
3Ease of operation
If traditional laparoscopic tools are used, then access port size is constrained, but tool exchange requires removal and insertion through ports
Solution Approach 1:
The robotic arm is segmented so that the forearm and end effector can be exchanged as a modular unit or independently at the coupling interface. This eliminates the need to insert long tools through access ports, as the exchange occurs at the robotic arm's end effector interface rather than through the patient's access ports.
Solution Approach 2:
Multiple end effectors can be pre-loaded onto the forearm or staged nearby, allowing for rapid exchange during surgery. The modular coupling mechanism is designed for quick attachment and detachment, reducing tool exchange time compared to traditional laparoscopic tool changes that require removal through access ports.
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
Enables efficient and contamination-free tool changes during surgical procedures, enhancing the operational flexibility and reducing the need for complex robotic systems, thereby improving surgical efficiency and safety.
Implementation Method 1
using mechanisms like rotatable cylinders, linear drive components, and magnetic couplings to facilitate tool exchange without disrupting the surgical field
Data Source
AI summary
The various embodiments disclosed herein relate to arms or forearms of medical devices that are configured to couple with quick-release end effectors, quick-release end effectors for use with such medical devices, and arms or forearms coupled to such quick-release end effectors. Certain forearms and end effectors have magnetic couplings, while others have mechanical couplings, and further implementations have both magnetic and mechanical couplings.