Robotic Instrument Exchange With Grasp-Verified Release
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing surgical robotic systems face inefficiencies in the instrument exchange process, requiring manual retraction of instruments from the patient and lacking secure mechanisms to ensure user grasp before release, which can lead to instrument dropping and increased surgical procedure time.
Innovation Solution
A mechanism using exchange levers and detectors on the instrument adapter, coupled with optical or Hall effect sensors, confirms user grasp and initiates instrument release and retraction, ensuring secure handling and efficient exchange without physical linear rails.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual retraction of instruments is used during exchange, then the system structure remains simple, but the surgical procedure time increases and the risk of instrument dropping increases
Solution Approach 1:
The system performs preliminary actions by automatically retracting the instrument along the manipulator arm's path before complete removal, and by using detectors to confirm user grasp before releasing the instrument. This preliminary automated preparation reduces the critical manual handling time and eliminates the risk of dropping during retraction.
Solution Approach 2:
The patent introduces an intermediary detection system (detectors on the adapter) that mediates between the user's manual grasp and the automated release mechanism. This intermediary verification layer ensures the instrument is securely held before automation takes over, bridging the gap between manual and automated operations.
2Reliability
If automated release mechanism with detectors is implemented, then the risk of instrument dropping is reduced, but the device complexity increases
Solution Approach 1:
The adapter performs self-verification through integrated detectors that automatically confirm whether the user has grasped the instrument. This self-service detection capability eliminates the need for external verification systems and reduces overall system complexity while maintaining high reliability.
Solution Approach 2:
The patent replaces complex mechanical interlocking release mechanisms with a simpler sensor-based detection system. Instead of intricate mechanical safety locks, the system uses detectors to sense user grasp and triggers automated release, substituting mechanical complexity with electronic sensing and control.
3Measurement precision
If physical linear rails are used for instrument retraction, then the retraction path is precisely controlled, but the device complexity and space requirements increase
Solution Approach 1:
The patent substitutes physical linear rails with a software-controlled retraction path system. The manipulator arm's existing control system guides the instrument along a predetermined digital path, replacing mechanical rail guidance with electronic positioning and control algorithms, thereby reducing hardware complexity while maintaining precision.
Solution Approach 2:
The manipulator arm is designed to serve multiple functions: it not only positions the instrument during surgery but also provides the retraction path guidance during instrument exchange. This multi-functionality eliminates the need for dedicated linear rail structures, reducing device complexity while maintaining precise retraction control.
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
Facilitates secure, efficient instrument exchange by confirming user grasp and automating the release process, reducing the risk of dropping and minimizing surgical time.
Implementation Method 1
A mechanism using exchange levers and detectors on the instrument adapter, coupled with optical or Hall effect sensors, confirms user grasp
Implementation Method 2
A mechanism using exchange levers and detectors on the instrument adapter, coupled with optical or Hall effect sensors, confirms user grasp
Data Source
AI summary
A system and method for facilitating removal of a surgical instrument from a robotic manipulator provides a surgical instrument having an instrument adapter that is mountable to an expandable receiver of a surgical robotic system. With the instrument adapter positioned in the receiver, the user grasps the surgical instrument, pressing one or more exchange members, causing them to change position relative to the receiver. The exchange members are configured so that their position will change relative to the receiver only if the user has a firm grasp on the adapter. The receiver detects the change in position of the exchange members and, in response, moves the receiver from the closed position to the open position so the user can exchange the instrument.