Rotating Entry Guide Cannula for Sterile Instrument Exchange
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Solution Overview
Problem
Current telerobotic systems for surgical procedures face challenges such as the need for frequent sterilization of robotic components, difficulty in instrument exchange, and limited range of motion, which can lead to contamination and increased operational costs.
Innovation Solution
The development of a robotic surgical system that includes a telemanipulated surgical instrument with an end effector having at least six actively controlled degrees of freedom, an entry guide tube and cannula assembly that allows for easy instrument exchange and rotation, and a sterile drape design that minimizes contamination and simplifies instrument handling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If robotic components are frequently sterilized to reduce contamination risks, then reliability improves, but loss of time and productivity worsen due to sterilization downtime
Solution Approach 1:
The system divides the robotic components into sterile and non-sterile zones using a sterile barrier. The sterile barrier includes a sterile drape covering the manipulator and a sterile adapter interface, allowing only sterile components to be sterilized while non-sterile components remain outside the sterile field, eliminating the need to sterilize entire robotic systems.
Solution Approach 2:
A sterile adapter acts as an intermediary component between the non-sterile robotic manipulator and the sterile surgical field. The adapter includes a sterile barrier that interfaces with the manipulator through a sterile adapter interface, transmitting forces and motions while maintaining sterile isolation.
2Manufacturing precision
If multiple instruments are used through a single port to improve surgical precision, then manufacturing precision improves, but device complexity worsens due to the need for coordinated manipulation
Solution Approach 1:
The sterile adapter serves multiple functions: it maintains sterile barrier, transmits forces from the manipulator to instruments, provides rotational freedom for the entry guide tube, and enables independent manipulation of multiple instruments through a single port system.
Solution Approach 2:
The entry guide tube is designed to rotate freely within the cannula, allowing dynamic adjustment of instrument orientations. The sterile adapter also allows rotational movement between the manipulator and the sterile field, enabling flexible instrument positioning while maintaining sterile isolation.
3Ease of operation
If the entry guide tube is rotatably coupled to allow instrument rotation, then ease of operation improves, but reliability worsens due to potential misalignment
Solution Approach 1:
The entry guide tube automatically maintains proper alignment through its free rotation capability. As instruments are exchanged or repositioned, the guide tube self-adjusts its orientation to maintain optimal alignment with the cannula and surgical site, eliminating the need for manual realignment procedures.
Data Source
AI summary
A method of operating a manipulator arm comprising a manipulator interface configured to removably couple with and transmit actuation force to a medical instrument includes mounting a cannula to a cannula mount coupled to the manipulator arm; mounting a medical instrument to the manipulator interface; inserting a shaft of the medical instrument through an entry guide mounted to the cannula; rotating the manipulator interface and the medical instrument relative to the cannula mount; and rotating the entry guide relative to the cannula mount about a longitudinal axis of the cannula.