Robotic Surgery Rail Extension for 3D Instrument Positioning

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Solution Overview

Problem

Existing positioning systems for robotic-surgery devices lack mechanisms for precise three-dimensional positioning and orientation of surgical instruments while maintaining unhindered access and control.

Innovation Solution

A rail extension apparatus with a clamping unit, mediating member, and force-transfer mechanisms that allow for vertical displacement and intrinsic rotation of surgical instruments relative to a rigid frame, enabling three-dimensional positioning and orientation with a robotic-surgery device.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If existing positioning systems are used to support surgical instruments, then the instruments can be positioned, but the systems lack mechanisms for precise three-dimensional positioning and orientation while maintaining unhindered access to controls

Engineering Contradiction:

Improvepositioning precisionVSAvoidaccess to controls

Core Design Contradiction:

Measurement precisionVSEase of operation

Solution Approach 1:

The positioning system is divided into separate functional modules: a rail extension mechanism for three-dimensional positioning, a mediating member for orientation control, and a docking interface for instrument attachment. This segmentation allows precise positioning capabilities while maintaining independent access to each control function without interference from other components.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

A mediating member is introduced as an intermediary component between the positioning mechanism and the surgical instrument. This mediating member provides a docking interface that enables precise three-dimensional positioning and orientation control while maintaining unhindered access to all controls, as the intermediary translates positioning commands without blocking operator access.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Stability of the object's composition

If a rigid frame structure is used to support surgical instruments, then stability is provided, but the system lacks flexibility for positioning and orienting instruments through three-dimensional space

Engineering Contradiction:

Improveframe stabilityVSAvoidpositioning flexibility

Core Design Contradiction:

Stability of the object's compositionVSAdaptability or versatility

Solution Approach 1:

The rigid frame is enhanced with dynamic positioning mechanisms including a rail extension with adjustable length and a mediating member with rotational degrees of freedom. These dynamic elements allow the stable frame structure to adapt and position surgical instruments flexibly through three-dimensional space while maintaining overall structural stability.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system adds dimensional flexibility to the rigid frame by incorporating a rail extension mechanism that provides adjustable positioning in one dimension, and a mediating member that adds rotational freedom in additional dimensions. This multi-dimensional adjustment capability enables precise positioning while the frame maintains its stabilizing function.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

3Ease of manufacture

If surgical instruments are directly attached to the rigid frame, then simple attachment is achieved, but precise three-dimensional positioning and orientation control are not possible

Engineering Contradiction:

Improveattachment simplicityVSAvoidpositioning accuracy

Core Design Contradiction:

Ease of manufactureVSMeasurement precision

Solution Approach 1:

A mediating member with a docking interface serves as an intermediary between the simple attachment mechanism and the precision positioning requirements. The mediating member translates simple attachment actions into precise three-dimensional positioning and orientation control, maintaining ease of attachment while achieving high positioning accuracy through its mechanical degrees of freedom.

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The docking interface on the mediating member is designed to enable self-aligning attachment of surgical instruments. The instrument automatically positions itself relative to the mediating member's docking interface, achieving precise positioning without complex manual adjustment mechanisms, thus maintaining simplicity while enabling accurate three-dimensional control.

Inventive Principle:

Principle #25Self-service

Data Source

PatentUS20250000609A1Rail extension for robotic-surgery devices

Publication Date: 2025.01.02 MOMENTIS SURGICAL LTD

AI summary

An apparatus for linking a surgical instrument with a rigid frame includes a clamping unit comprising (i) a clamp-actuator and (ii) two opposing clamps attached bilaterally to the clamping unit. Either one of the two opposing clamps can be individually effective, to clamp the clamping unit to the rigid frame. A mediating member is provided for mediating between the surgical instrument and the clamping unit, and is proximally engaged with the clamping unit. Force-transfer mechanisms such as, for example, gearing arrangements, and a plurality of mechanical actuators such as, for example, gear-actuators placed to actuate them, are provided for vertically displacing the mediating member relative to the clamping unit and for pivoting the mediating member in intrinsic rotation in a pitch axis.