Robotic Surgical Tool With Replaceable Carriage and Articulation
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Solution Overview
Problem
Existing robotic surgical systems face challenges in providing intuitive and efficient control over surgical instruments, especially in minimally invasive procedures, due to limitations in articulation and ease of use, which can lead to awkward arm motions and reduced procedural efficiency.
Innovation Solution
A robotic surgical tool with a stage assembly and core assembly that includes a lead screw, spline, nut, and drive gear system, allowing for removably mountable components and enhanced articulation, along with a shroud assembly for protection and positioning, enabling improved control and ergonomic operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If robotic surgical systems use fixed integrated designs, then structural stability is maintained, but adaptability and ease of operation deteriorate due to limited articulation and awkward arm motions
Solution Approach 1:
The surgical tool is divided into distinct modular components: a stage assembly that remains stationary and a core assembly that can be removably mounted and detached. This segmentation allows different core assemblies to be exchanged based on procedural needs, enhancing adaptability while maintaining a stable base structure.
Solution Approach 2:
The core assembly incorporates movable components including a carriage that translates along splines, a drive housing with rotating drive gears, and articulation mechanisms that enable dynamic positioning. These dynamic elements allow the instrument portion to achieve natural hand-like articulation and access hard-to-reach spaces while maintaining ease of operation.
2Ease of operation
If robotic surgical tools use removable modular components, then ease of operation and adaptability improve, but device complexity increases due to additional mounting and dismounting mechanisms
Solution Approach 1:
The stage assembly and core assembly are designed with pre-configured mating interfaces including alignment features, engagement protrusions, and corresponding receptacles. These preliminary preparations enable quick and accurate coupling without requiring complex alignment procedures or multiple adjustment steps, thus improving ease of operation while controlling complexity.
Solution Approach 2:
The carriage acts as an intermediary component between the stationary stage assembly and the movable core assembly. It provides a standardized interface that simplifies the coupling mechanism, allowing the drive housing to be removably mounted through a controlled translation and engagement process rather than requiring direct complex interfacing between all components.
3Productivity
If the surgical tool uses a stationary design, then stability is maintained, but procedural efficiency deteriorates due to limited movement capability
Solution Approach 1:
The system separates the stationary base (stage assembly) from the movable instrument portion (core assembly). The core assembly can translate along multiple axes through the carriage-spline mechanism and rotate through drive gears, adding dimensional freedom of movement without compromising the stability of the base structure. This enables natural articulation and access to hard-to-reach spaces, significantly improving procedural efficiency.
Solution Approach 2:
The stage assembly serves as a universal base that can accommodate multiple different core assemblies through standardized interfaces. Each core assembly can be configured with different end effectors and drive mechanisms to perform various surgical functions, allowing the system to handle diverse procedural requirements with a single stable platform, thereby enhancing both productivity and ease of operation.
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
The system provides enhanced control and ease of use, allowing for more intuitive hand movements and improved procedural efficiency, reducing the need for awkward arm positions and enhancing the ability to perform minimally invasive procedures with greater precision and ease.
Implementation Method 1
a lead screw and at least one spline extendable between first and second ends of the stage assembly, and a nut rotatably mounted to the lead screw to translate between the first and second ends upon rotation of the lead screw
Implementation Method 2
a drive gear coupled to the at least one spline and rotatable with rotation of the at least one spline, wherein the activating mechanism is operatively coupled to the drive gear such that rotation of the drive gear correspondingly actuates the activating mechanism
Data Source
AI summary
A surgical tool includes a stage portion that includes opposing first and second ends, a lead screw and at least one spline that extend between the first and second ends, and a first layer of a carriage movably mounted to the lead screw and the at least one spline. An instrument portion is releasably coupled to the stage portion and includes one or more additional layers of the carriage removably coupled to the first layer, and an elongate shaft extending distally from the one or more additional layers and having an end effector arranged at a distal end of the elongate shaft. The elongate shaft and the end effector penetrate the elevator layer and the first end when the instrument portion is coupled to the stage portion.