Sterile Barrier Coupling for Robotic Surgical Tool Drivers
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Solution Overview
Problem
Current robotic surgical systems face challenges in effectively coupling surgical tools to tool drivers while maintaining a sterile environment and allowing independent movement of actuation members.
Innovation Solution
The implementation of a robotic surgical tool with a housing featuring a mating interface member, elongate shaft, end effector, and coupling features that reversibly engage with actuation members, along with a sterile barrier to separate the surgical tool from the tool driver, enabling independent movement and easy disengagement of the tool.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a sterile barrier is introduced to maintain sterility between the surgical tool and tool driver, then sterility is improved, but device complexity increases
Solution Approach 1:
The coupling system is divided into separate sterile and non-sterile components. The sterile barrier is segmented into multiple parts including the sterile adapter, sterile barrier member, and sterile coupling features that can be independently manufactured, sterilized, and assembled. This segmentation allows the sterile portion to be separated from the non-sterile tool driver while maintaining reliable sterile connection.
Solution Approach 2:
A sterile adapter acts as an intermediary component between the non-sterile tool driver and the sterile surgical tool. The adapter includes sterile coupling features that interface with actuation members while maintaining the sterile barrier. This intermediary enables force and motion transmission across the sterile boundary without direct contact between sterile and non-sterile components.
2Ease of operation
If coupling features are designed to allow independent movement of actuation members, then operational precision is improved, but manufacturing precision requirements increase
Solution Approach 1:
The coupling features are designed with dynamic characteristics that allow independent movement of actuation members. The sterile adapter includes movable coupling features with appropriate clearances and compliance elements that enable each actuation member to move independently along its trajectory while maintaining proper alignment through self-adjusting mechanisms.
Solution Approach 2:
The coupling system incorporates parameter changes in the form of compliant elements and adjustable clearances that accommodate manufacturing tolerances. The sterile barrier and coupling features are designed with specific dimensional parameters that allow for independent actuation member movement while compensating for variations in manufacturing precision through elastic deformation and controlled clearances.
3Reliability
If a sterile barrier is used to separate the surgical tool from the tool driver, then sterility is maintained, but ease of operation decreases
Solution Approach 1:
The sterile adapter and sterile barrier components are pre-assembled and pre-sterilized as a complete sterile assembly before use. The coupling features are pre-positioned and pre-aligned in the sterile adapter, eliminating the need for complex alignment operations during surgery. This preliminary preparation simplifies the coupling operation to a straightforward attachment process while maintaining sterility.
Solution Approach 2:
The sterile coupling system incorporates self-aligning and self-latching features that automatically guide the coupling process. The sterile adapter includes complementary coupling features that self-align with the tool driver interface, and self-latching mechanisms that automatically secure the connection without requiring complex manual manipulation. This self-service capability maintains sterility while simplifying the coupling operation.
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
This solution allows for reliable, independent operation of surgical tools within a sterile environment, facilitating efficient coupling and decoupling without compromising sterility, and enabling precise control of the tool's movements.
Implementation Method 1
a spring disposed around the outer wall and configured to engage a circumferential groove in the proximal end of the actuation member
Implementation Method 2
a sterile barrier configured to be disposed between the surgical tool and the tool driver so as to define a sterile side at which the surgical tool is disposed and a non-sterile side
Data Source
AI summary
Systems and methods are provided for coupling a robotic surgical tool with a tool driver of a robotic surgical system via a sterile barrier disposed between the tool and the tool driver. The sterile barrier can have a housing configured to accommodate proximal portions of a plurality of actuation members of the tool driver when the sterile barrier is coupled to the tool driver. The housing can have at least partially disposed within it substantially cylindrical, longitudinally expandable bellows, each being configured to encompass and mate with a proximal portion of a corresponding one of the plurality of actuation members. In some cases, the sterile barrier can have a plurality of sterile barrier couplers each having a first portion configured to engage with an actuation member of a tool driver, and a second portion configured to engage with a tool actuation member of a surgical tool.