Shiftable Transmission for Robotic Surgical Instruments
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Solution Overview
Problem
Existing minimally invasive robotic surgery systems face challenges in adapting new surgical instruments due to limitations in motor outputs, requiring modifications to the telesurgical systems, which is cost-prohibitive and limits surgical capabilities.
Innovation Solution
A surgical tool with an elongated shaft and a surgical end effector at the distal end, featuring a drive mechanism with multiple motor interfaces and a transmission system that allows selective coupling of motor interfaces to specific effector mechanisms, enabling flexible operation of multiple degrees of freedom without requiring system modifications.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If new surgical instruments are developed for existing telesurgical systems, then surgical capabilities are enhanced, but system modifications are required which are cost-prohibitive
Solution Approach 1:
The surgical instrument is designed with a universal interface that can be operated by multiple motor outputs of the existing telesurgical system. The end effector mechanisms are configured to work with standard motor interfaces, allowing the instrument to be controlled by any available motor output without requiring system modifications. This multi-functionality enables the instrument to adapt to the existing system architecture while enhancing surgical capabilities.
Solution Approach 2:
The instrument incorporates a dynamic transmission system that can selectively couple different motor interfaces to different effector mechanisms based on operational requirements. This dynamic reconfiguration allows the instrument to adapt its degree of freedom activation according to the specific surgical task and available motor outputs, maximizing versatility without requiring fixed system modifications.
2Adaptability or versatility
If multiple effector mechanisms are activated simultaneously, then surgical versatility is improved, but control complexity increases
Solution Approach 1:
The transmission system includes dynamic coupling mechanisms that selectively engage or disengage specific effector mechanisms based on the activated degree of freedom. When certain DOFs are activated, the transmission dynamically connects the appropriate motor interfaces to the corresponding effector mechanisms while isolating others. This dynamic control reduces complexity by only activating necessary pathways rather than managing all possible connections simultaneously.
Solution Approach 2:
The control system is segmented into independent control channels, each responsible for specific effector mechanisms. This segmentation allows each motor interface to control specific functions independently, reducing overall control complexity. The transmission system divides the complex multi-DOF control into manageable segments that can be activated and controlled separately based on surgical needs.
Data Source
AI summary
A surgical tool having an elongated shaft having a proximal end and distal end. A surgical end effector is located about the distal end. The surgical end effector has a plurality of effector mechanisms comprising a plurality of degree of freedoms. An effector body is located at the proximal end. The effector body includes a plurality of motor interfaces for driving the plurality of effector mechanisms. A transmission is coupled to the effector body.