Robotic Surgical Tool Spline Arrangement for Lead Screw Load Balancing
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Solution Overview
Problem
Existing robotic surgical systems face challenges in efficiently transferring torque and managing torsional loading, which can lead to inefficiencies and complications during minimally invasive procedures.
Innovation Solution
The implementation of a robotic surgical tool with a lead screw and splines, where the splines are arranged to balance torsional loading, with varying distances and cross-sectional areas to manage torque transfer effectively.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If the spline is positioned closer to the lead screw, then torque transfer efficiency is improved, but the lead screw experiences higher torsional loading
Solution Approach 1:
The patent applies local quality by varying the cross-sectional area of the spline along its length and positioning multiple splines at different radial distances from the lead screw. This creates non-uniform structural properties that optimize torque transfer at critical locations while distributing mechanical stress across different regions of the assembly.
Solution Approach 2:
The patent segments the torque transfer function by using multiple splines (first spline, second spline, etc.) positioned at different distances from the lead screw. Each spline handles a portion of the torsional load, dividing the overall stress burden and allowing optimized positioning for each individual spline based on its specific function and load requirements.
2Stress or pressure
If multiple splines are used to balance torsional loading, then mechanical stress is reduced, but device complexity increases
Solution Approach 1:
The patent merges multiple splines and the lead screw into a integrated torque transfer assembly where all components work together to balance torsional loads. The splines are coupled to the same carriage and work in conjunction with the lead screw to distribute and balance mechanical stress, achieving load balancing through combined action rather than separate systems.
3Power
If splines with varying cross-sectional areas are used, then torque transfer is optimized, but manufacturing complexity increases
Solution Approach 1:
The patent implements local quality by specifying that different splines have different cross-sectional areas tailored to their specific torque transfer requirements. The first spline, positioned closer to the lead screw, has a different cross-sectional area than the second spline positioned farther away, optimizing the mechanical properties at each location while accounting for the varying stress distributions.
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
Enhances the ease and precision of surgical procedures by improving torque transfer and reducing mechanical stress, allowing for more intuitive and ergonomic operation.
Implementation Method 1
the spline is arranged at a distance from the lead screw such that the lead screw assumes torsional loading generated by the spline
Data Source
AI summary
A surgical tool includes a handle having opposing first and second ends, a lead screw and a spline are rotatably coupled to and extend between the opposing ends. The spline is arranged a distance from the lead screw such that the lead screw assumes torsional loading generated by the spline. Another surgical tool includes first and second splines with a first activating mechanism coupled to the first spline and a second activating mechanism coupled to the second spline. Torsional loading generated by the first and second splines to operate the first and second activating mechanisms are balanced by rotating the first and second splines in opposite directions. A method of minimizing torsional loads on components of a robotic surgical tool includes actuating the surgical tool and assuming a torsional force acting on a carriage of the surgical tool with a load balancing member included in the surgical tool.