Rotational Coupler Assembly for Rapid Robotic Instrument Exchange
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Solution Overview
Problem
The installation and removal of surgical instruments in robotic surgical systems are cumbersome and time-consuming, necessitating the development of efficient coupling devices and methods for quick and reliable exchange.
Innovation Solution
The implementation of coupler assemblies with stationary and rotation hubs that utilize complementary mating features, allowing for easy and secure attachment and detachment of surgical instruments to robotic arms through a simple rotational mechanism.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If complex interconnection of mechanical, electrical, and pneumatic features is used to connect surgical instruments to robotic arms, then reliability of connection is improved, but device complexity and time required for instrument exchange increase
Solution Approach 1:
The coupling device is segmented into a stationary hub and a rotation hub as separate, modular components. The stationary hub remains fixed on the robotic arm while the rotation hub attaches to the surgical instrument. This segmentation allows each component to be optimized independently and simplifies the overall coupling mechanism by dividing the complex interconnection functions across two separate hubs rather than requiring a single complex connector.
Solution Approach 2:
The rotation hub acts as an intermediary component between the stationary hub and the surgical instrument. It provides a rotational interface that mediates the connection, allowing the instrument to be attached and detached through rotation while maintaining secure mechanical, electrical, and pneumatic connections. This intermediary simplifies the direct connection complexity by introducing a rotational coupling mechanism.
2Reliability
If complex interconnection features are used for secure attachment, then reliability of instrument connection is improved, but the time required for instrument installation and removal increases
Solution Approach 1:
The coupling device incorporates dynamic rotational motion as the primary mechanism for attachment and detachment. The rotation hub can rotate relative to the stationary hub to engage or disengage complementary mating features. This dynamic rotational interface allows quick instrument exchange while maintaining secure connections during the surgical procedure, reducing instrument exchange time without compromising attachment reliability.
Solution Approach 2:
The invention replaces complex multi-step mechanical fastening systems with a simplified rotational coupling mechanism. Instead of requiring multiple fasteners, locks, or alignment steps, the complementary mating features on the rotation and stationary hubs engage through a single rotational motion. This substitution dramatically reduces the time required for instrument installation and removal while maintaining secure mechanical, electrical, and pneumatic connections.
3Adaptability or versatility
If frequent installation and removal of surgical instruments is performed, then adaptability to different procedures is improved, but cumulative time loss and wear increase
Solution Approach 1:
The dynamic rotational coupling mechanism enables rapid repeated attachment and detachment of surgical instruments. The rotation hub can be quickly rotated to engage or disengage from the stationary hub, allowing frequent instrument exchanges without significant time loss. This dynamic interface is designed to withstand multiple engagement cycles while maintaining connection reliability, supporting adaptable surgical procedures that require instrument changes.
Solution Approach 2:
The complementary mating features on the rotation and stationary hubs are pre-configured to align automatically during the rotational engagement process. This preliminary alignment reduces the precision required during instrument exchange and minimizes the time needed for proper connection. The design anticipates frequent exchanges by pre-positioning the mating features to engage smoothly and reliably with minimal manual intervention.
Data Source
AI summary
A robotic surgical system includes a surgical instrument, a robotic arm, and a coupler assembly. The surgical instrument defines a longitudinal axis therethrough and supports an end effector on a free distal end portion of the surgical instrument. The robotic arm includes segments that are movably coupled together by joints. A first joint has at least two degrees of freedom for positioning the surgical instrument relative to a patient. The coupler assembly removably couples the surgical instrument to the robotic arm. The coupler assembly is positioned to enable the surgical instrument to rotate about the longitudinal axis and relative to the robotic arm.