Sterile Adapter Extensible Covers for Robotic Surgery Actuation
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Solution Overview
Problem
Conventional robotic surgical systems face challenges in maintaining a sterile environment due to the inability to sterilize non-sterile components like motors and sensors, which are not effectively addressed by existing sterile barriers that interfere with instrument actuation.
Innovation Solution
A sterile adapter system with a flexible barrier and extensible covers is integrated between the actuator and surgical instrument, providing a sterile barrier while allowing for the actuation of surgical instruments, and an interlocked arrangement that urges the actuator and surgical instrument together during actuation, preventing decoupling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a sterile barrier is provided between the instrument driver and surgical instrument, then sterility is maintained, but the sterile barrier interferes with instrument actuation
Solution Approach 1:
The sterile adapter is divided into multiple functional segments: a proximal interface for the instrument driver, a distal interface for the surgical instrument, extensible covers for each drive member, and a flexible barrier. This segmentation allows each component to perform its specific function while collectively solving the contradiction between maintaining sterility and enabling actuation.
Solution Approach 2:
The sterile adapter acts as an intermediary component between the non-sterile instrument driver and the sterile surgical instrument. It provides a sterile interface that allows mechanical actuation to pass through while maintaining the sterile barrier, thus mediating the interaction between sterile and non-sterile components.
Solution Approach 3:
The extensible covers are designed to dynamically change their configuration - extending when drive members move distally and retracting when drive members move proximally. This dynamic behavior allows the sterile barrier to accommodate actuation movements without compromising sterility or interfering with the actuation mechanism.
2Reliability
If conventional sterilization methods are used, then surgical instruments are sterilized, but motors and sensors cannot be sterilized
Solution Approach 1:
The solution extracts the sterilization requirement from the entire robotic system by separating components into sterile and non-sterile zones. The sterile adapter and surgical instrument form a removable sterile assembly that can be sterilized independently using conventional methods, while electronic components remain in the non-sterile zone and do not require sterilization.
Solution Approach 2:
Different parts of the system have different sterility requirements. The sterile adapter is designed with local quality - the portion interfacing with the surgical instrument and drive members has sterile properties, while the portion interfacing with the instrument driver remains non-sterile. This allows selective application of sterilization methods to appropriate components.
3Reliability
If the sterile adapter is made rigid to maintain barrier integrity, then sterility is maintained, but the adapter cannot accommodate drive member movement
Solution Approach 1:
The sterile adapter employs flexible barriers and extensible covers that can deform and extend to accommodate the linear movement of drive members. The flexible material maintains the sterile barrier integrity while allowing the necessary mechanical movement for instrument actuation, resolving the contradiction between rigidity and flexibility requirements.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The sterile adapter system effectively maintains a sterile environment without interfering with instrument actuation, ensuring the sterility of the surgical site and preventing inadvertent decoupling of the sterile adapter from the instrument driver.
Implementation Method 1
a sterile adapter interposed between the actuator and the surgical instrument. The sterile adapter may include a flexible barrier
Implementation Method 2
a plurality of extensible covers integrally formed with the flexible barrier, and the plurality of extensible covers may be arranged to receive the plurality of drive members
Data Source
AI summary
A robotic surgical system may include an actuator including a plurality of linearly displaceable drive members, where at least one drive member actuates at least one degree of freedom of a surgical instrument, and a sterile adapter interposed between the actuator and the surgical instrument. The sterile adapter includes a flexible barrier and a plurality of extensible covers integrally formed with the flexible barrier, and the plurality of extensible covers are arranged to receive the plurality of drive members. In some variations, the system may include an interlocked arrangement coupling the actuator and the surgical instrument across the sterile adapter, the interlocked arrangement urging the actuator and the surgical instrument together when the actuator actuates the at least one degree of freedom of the surgical instrument.