Spring-Loaded Robotic Instrument Interface for Minimizing Exchange Time
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current minimally invasive surgical instruments face challenges with instrument exchange time and difficulty due to limited manipulator arms and high costs, which hinder the widespread adoption of minimally invasive techniques.
Innovation Solution
A robotic manipulator system featuring a telescopic insertion axis with a spring-loaded instrument interface that enables efficient and cost-effective engagement of a sterile adaptor, allowing for one-handed instrument clutching and reduced inertia, thereby simplifying instrument exchange and providing a sterile barrier.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple surgical instruments are attached and detached from manipulator arms during a procedure, then the surgeon can use a variety of surgical tools, but the instrument exchange time and difficulty increase
Solution Approach 1:
The instrument interface uses a spring-loaded mechanism that dynamically adjusts to engage and disengage instruments. The spring-loaded input allows the interface to automatically adapt to the insertion and removal of different surgical instruments, reducing the time and effort required for exchanges while maintaining versatility.
Solution Approach 2:
The spring-loaded instrument interface enables self-service engagement and disengagement of surgical instruments. The spring mechanism automatically provides the necessary force to secure instruments when inserted and releases them when removed, eliminating the need for complex manual operation during instrument exchanges.
2Strength
If a non-disposable instrument interface is used, then torque transmission and structural integrity are maintained, but the cost increases and instrument exchange becomes more complex
Solution Approach 1:
The instrument interface is designed as a disposable component that can be manufactured at low cost. By using simple spring-loaded mechanisms and standard mechanical elements, the interface can be produced economically as a single-use item, eliminating the need for expensive reusable components while maintaining adequate torque transmission during its service life.
Solution Approach 2:
The system is segmented into disposable instrument interface components and reusable manipulator arms. This segmentation allows the complex torque transmission function to be divided between a simple disposable interface and a robust reusable manipulator, reducing overall system cost and simplifying instrument exchanges.
3Reliability
If a complex instrument interface mechanism is used, then reliable torque transfer is achieved, but the device complexity and difficulty of operation increase
Solution Approach 1:
The complex torque transmission mechanism is extracted from the disposable instrument interface and placed in the reusable manipulator arm. The instrument interface itself is simplified to contain only essential engagement elements, while the manipulator arm houses the sophisticated torque transmission components, reducing interface complexity.
Solution Approach 2:
The spring-loaded mechanism acts as an intermediary between the simple instrument holder and the complex manipulator arm. It provides reliable torque transfer through elastic deformation while maintaining a simple mechanical structure that is easy to manufacture and dispose of.
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
This solution reduces instrument exchange time and effort, enables a disposable and cost-effective design for the instrument sterile adaptor, and enhances the surgical field's visibility and accessibility, improving the efficiency of minimally invasive procedures.
Implementation Method 1
a carriage link including an instrument interface having a spring-loaded input for providing axial load and torque to a sterile adaptor
Data Source
Figure 1
Figure 2A
Figure 2B
AI summary
An instrument interface of a robotic manipulator and a surgical system including the instrument interface are provided. In one embodiment, the instrument interface includes a spring-loaded input for providing axial load and torque to a sterile adaptor capable of operably coupling an instrument. In another embodiment, a robotic surgical manipulator system includes a manipulator assembly, including a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an integrated instrument interface. The system further includes an instrument operably coupled to the carriage link via the instrument interface, and a processor operably coupled to the manipulator assembly for sensing presence of the instrument.