Universal Robot Instrument Coupling Mechanism
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Solution Overview
Problem
Current medical robots are limited in their ability to connect both conventional and laparoscopic instruments, as they have been segregated into different markets, and lack electrical connections for instrument guidance.
Innovation Solution
A device that mechanically and electrically connects conventional or laparoscopic instruments to a robot arm using a reconfigured articulated joint system with a circular cylinder segment, flange, and rolling joint, enabling 180° rotation and secure locking mechanisms for universal medical application.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot is designed to connect only laparoscopic instruments, then the robot can be used for minimally invasive surgeries with small openings, but the robot cannot connect conventional instruments
Solution Approach 1:
The robot arm is equipped with a universal coupling device that can connect both laparoscopic instruments with rod-shaped shafts and conventional instruments with flanged connections. The coupling device includes a hollow shaft unit with a coupling element that accommodates different instrument types through standardized connection interfaces, enabling one robot system to perform multiple surgical functions.
Solution Approach 2:
The connection system is divided into modular segments: a hollow shaft unit for laparoscopic instruments, a coupling element with locking mechanism, and a flange interface for conventional instruments. This segmentation allows each component to be optimized for its specific function while working together as an integrated system.
2Reliability
If laparoscopic instruments are removed through small openings, then patient safety is improved, but the instrument can only be removed along the axis of the rod-shaped part
Solution Approach 1:
The coupling device incorporates a rolling joint that enables dynamic rotation of the instrument axis relative to the robot arm. This allows the instrument to be oriented along the axis of the rod-shaped part during insertion and removal through small openings, while permitting angular adjustments during surgical operations to improve accessibility and ease of manipulation.
3Loss of information
If electrical connection is added to instruments, then data and power transmission capabilities are improved, but the connection system becomes more complex
Solution Approach 1:
The coupling device merges mechanical and electrical connection functions into a single integrated interface. Electrical connection elements are embedded within the mechanical coupling structure, allowing simultaneous transmission of mechanical forces, electrical signals, and data through the same connection point between the robot arm and instrument.
4Ease of operation
If a hollow shaft unit is used for robot axis, then instrument removal along the axis is enabled, but the structure becomes more complex
Solution Approach 1:
The hollow shaft unit serves multiple functions: it acts as the robot axis structure, provides a passage for instrument removal along the axis, and incorporates the coupling element for connecting instruments. This multi-functionality reduces the need for separate components and simplifies the overall structure despite the added capability.
Data Source
AI summary
To connect conventional or laparoscopic instruments to a robot that can be used for medical applications, there can be a device that has a first and a second circular cylinder segment having a continuous center bore is connected with the angled first segment affixed to the free end of a robot arm. This connection can be by way of an articulated joint that can be rotated by 180°. On one end surface of the second segment, there can be a third segment in the form of a flange, having a bore that is coaxial with the continuous center bore in the second segment. There is also a rolling joint which can be used to allow the device to rotate. Around the bore of the flange, there can be supply technology and data technology connection elements and a locking mechanism for coupling end effectors on and off.