Robotic Surgical Tool Coupling for Precise Applicator Locking
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing surgical robotic manipulators lack efficient and reliable systems for securely attaching and operating energy applicators, such as drills or saw blades, which are crucial for precise surgical procedures like knee or hip replacements, while also ensuring consistent calibration and tool center point location for navigation systems.
Innovation Solution
A surgical tool assembly with a support structure, axial connector assembly, and drive system that securely locks the energy applicator, allowing it to be rotated and axially retained, while maintaining consistent contact for precise surgical operations and enabling easy replacement of components like protective sheaths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a surgical robotic manipulator uses a secure locking mechanism for energy applicators, then reliability of attachment is improved, but device complexity increases
Solution Approach 1:
The connector assembly is divided into distinct functional modules: the axial connector assembly with locking mechanism, the collet assembly with compression members, and the drive system with drive shaft. This segmentation allows each component to perform its specific function efficiently while maintaining overall system reliability without excessive complexity.
Solution Approach 2:
The collet assembly is nested within the axial connector assembly, with the compression members positioned inside the collet body. The drive shaft passes through the center of the collet assembly. This nested configuration consolidates multiple functions into a compact structure, improving attachment reliability while minimizing the increase in device complexity.
2Stability of the object's composition
If the energy applicator is securely locked in position, then operational stability is improved, but ease of replacement deteriorates
Solution Approach 1:
The locking mechanism transitions from a locked state to an unlocked state through actuation of the release member. The compression members are biased by a spring to maintain continuous contact with the applicator, providing stable positioning during operation. When the release member is actuated, the biasing force releases the locking engagement, allowing easy removal and replacement of the applicator while maintaining stability during use.
3Productivity
If the drive system continuously drives the shaft, then productivity is improved, but energy consumption increases
Solution Approach 1:
The drive system is designed to continuously drive the shaft of the energy applicator during surgical operations, maintaining constant rotational motion for efficient tissue cutting or drilling. The mechanical coupling through the drive shaft and the engagement of the collet assembly ensure continuous power transmission from the motor to the applicator, maximizing surgical productivity.
Data Source
Figure 1
Figure 2
Figure 3
AI summary
A tool for use with a surgical robotic manipulator that comprises an energy applicator including a shaft extending along an axis between a proximal end and a distal end. The shaft has an axial-force receiving surface. A tool assembly comprises a support structure to support the energy applicator, an axial connector assembly arranged to engage and releasably lock the energy applicator to the support structure in a locked state, a drive system coupled to the support structure to rotatably drive the shaft of the energy applicator about the axis, a collet assembly cooperating with the axial connector assembly and configured to apply a force to the axial-force receiving surface of the energy applicator in the locked state, and a reference surface. The force includes an axial component directing the energy applicator proximally into continuous contact with the reference surface in the locked state.