Surgical Robot End Effector for One-Handed Cutting Accessory Loading
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Solution Overview
Problem
Current surgical robotic manipulators face challenges in efficiently and easily loading and unloading cutting accessories, which hinders precise surgical procedures due to bulkiness and interference at the surgical site.
Innovation Solution
The design incorporates a clutch assembly and axial/drive connectors that allow for quick and easy attachment and detachment of cutting accessories, reducing bulk and enhancing access by enabling precise axial positioning and one-handed assembly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the end effector uses a traditional locking mechanism for the cutting accessory, then the cutting accessory is securely retained, but the loading and unloading process becomes time-consuming and complex
Solution Approach 1:
The locking mechanism is segmented into modular components: fingers with grooves on the cutting accessory, and corresponding protrusions on the drive member. These segmented elements can engage independently through simple axial movement, eliminating the need for complex multi-step locking procedures and enabling rapid attachment and detachment.
Solution Approach 2:
The fingers and grooves are pre-configured in specific positions and orientations before assembly. The grooves are preliminarily shaped to guide the protrusions during insertion, so that when the cutting accessory is axially inserted, the locking engagement occurs automatically without requiring additional manual manipulation or adjustment steps.
2Reliability
If the end effector includes comprehensive locking and driving mechanisms, then the cutting accessory is securely retained and driven, but the overall size and bulk of the end effector increases
Solution Approach 1:
The locking and driving functions are merged into a single integrated mechanism. The protrusions on the drive member simultaneously perform both locking (by engaging the grooves to prevent detachment) and driving (by transmitting rotational torque to the cutting accessory). This eliminates the need for separate locking and driving components, reducing the end effector's bulk.
Solution Approach 2:
The drive member is designed with universal multi-functionality: it provides axial positioning of the cutting accessory, circumferential locking through groove-protrusion engagement, and rotational driving through the same engagement features. This multi-functional design eliminates redundant components and minimizes the volume of the end effector while ensuring reliable retention and operation.
3Volume of moving object
If the end effector uses a simple attachment mechanism, then the bulk is reduced and access is improved, but the precision of axial positioning of the cutting accessory deteriorates
Solution Approach 1:
The fingers act as intermediary elements between the cutting accessory and the drive member. These fingers provide precise geometric reference surfaces through their grooves, which mediate the positioning relationship. When the drive member's protrusions engage these grooves, the intermediary fingers ensure accurate axial positioning without requiring complex adjustment mechanisms, maintaining precision while keeping the design simple.
Solution Approach 2:
Complex mechanical adjustment systems for axial positioning are replaced by precisely engineered groove geometries. The shape, depth, and orientation of the grooves are designed to automatically establish the correct axial position when engaged by the protrusions. This geometric constraint system substitutes for traditional mechanical positioning devices, achieving high precision with minimal bulk.
4Reliability
If the end effector requires two-handed operation for accessory attachment, then the locking is more secure, but the ease of operation during surgery is reduced
Solution Approach 1:
The attachment mechanism is designed to be self-servicing during assembly. The grooves and protrusions are configured so that when the cutting accessory is inserted axially, the components self-align and self-lock automatically without requiring manual manipulation by a second hand. The geometric features guide the engagement process and secure the connection through inherent mechanical interference, enabling reliable one-handed operation.
Solution Approach 2:
The complex manual manipulation steps traditionally required for secure locking are extracted from the assembly process. The design removes the need for twisting, threading, or multi-step securing actions that would require two hands. Only the essential axial insertion motion remains, which can be easily performed with one hand, while the secure locking function is achieved through the extracted and simplified groove-protrusion engagement mechanism.
Data Source
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AI summary
An end effector (12) for use with a surgical robotic manipulator (11) and a cutting accessory (32) for cutting tissue of a patient comprises an actuator (34) for driving the cutting accessory, a nose tube (100) extending along an axis (N) for receiving the cutting accessory, a handle (300) supported by the nose tube so as to rotate relative to the nose tube about the axis (N) of the nose tube; a lever (402) coupled to the handle (300) being moveable relative to the handle (300) between a depressed position and a released position; and a sensor (408) supported by the nose tube (100) and configured to sense the lever (402) in the depressed position and the released position. The actuator (34) is configured to be activated for driving the cutting accessory (32) in response to the sensor (408) sensing the lever (402) in the depressed position.