Sterile Drape Interface for Robotic Surgical Instruments
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Solution Overview
Problem
Robotic surgical manipulators face contamination risks and sterilization challenges due to their electromechanical components, and the need for frequent instrument exchanges during procedures, which complicates maintaining a sterile field and increases costs.
Innovation Solution
A sterile drape system that covers the robotic manipulator, including a sterile sheet, a rigid frame, and a diaphragm, which allows for the attachment and detachment of surgical instruments while maintaining a sterile environment without damaging the manipulator's components, and includes a gimbal assembly with intersecting rotational axes for precise instrument control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robotic manipulator is sterilized using conventional methods (steam, heat, pressure, or chemicals), then the sterilization effectiveness is improved, but the electromechanical components (servo motors, sensors, encoders, electrical connections) are damaged or destroyed
Solution Approach 1:
The system is divided into a non-sterile robotic manipulator and a sterile surgical instrument that can be detached. The manipulator remains outside the sterile field while the instrument is sterilized separately, allowing the electromechanical components to avoid exposure to sterilization agents while still enabling sterile surgical procedures.
Solution Approach 2:
A sterile barrier or drape is introduced as an intermediary between the robotic manipulator and the surgical site. This barrier allows the manipulator to control surgical instruments while maintaining the sterile field, preventing direct contact between non-sterile manipulator components and the sterile surgical environment.
2Adaptability or versatility
If multiple surgical instruments are attached and detached from the same instrument holder during surgery, then the versatility of the surgical procedure is improved, but the time required for instrument exchanges and the risk of contamination increase
Solution Approach 1:
Surgical instruments are pre-sterilized and prepared in advance, allowing for quick attachment to the robotic manipulator without requiring time-consuming sterilization procedures during surgery. The sterile barrier is also prepared beforehand to maintain the sterile field during instrument exchanges.
Solution Approach 2:
A sterile barrier serves as an intermediary that remains in place during instrument exchanges, allowing instruments to be attached and detached without breaking the sterile field. This eliminates the need to re-sterilize the manipulator between instrument changes and reduces contamination risk.
3Object-affected harmful factors
If the number of entry ports into the patient's abdomen is limited, then the invasiveness of the procedure is reduced, but the number of times instruments must be exchanged through the same port increases
Solution Approach 1:
A sterile barrier is introduced as an intermediary at the entry port, allowing multiple instruments to be exchanged through the same port without breaking sterility. This maintains the minimally invasive approach while enabling efficient instrument changes during the surgical procedure.
Solution Approach 2:
The sterile barrier remains continuously in place throughout the surgical procedure, allowing uninterrupted instrument exchanges through the same entry port. This maintains the continuous sterile field and eliminates the need to stop the procedure for re-sterilization between instrument changes.
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 drape system effectively prevents contamination of the robotic manipulator, allows for quick and reliable instrument changes, and maintains a sterile field during surgical procedures without compromising the manipulator's electrical or mechanical components, enhancing surgical efficiency and reducing costs.
Implementation Method 1
a diaphragm that connects the instrument interface to the frame
Implementation Method 2
The proximal interface includes a gimbal assembly with two intersecting rotational axes coupled to the distal end effector. The drive plate has two degrees of rotational freedom about a center of motion that is coincident with an intersection of the axes of the gimbal assembly.
Data Source
AI summary
A robotic surgical system includes a sterile surgical instrument, a robotic surgical manipulator, and a sterile drape covering at least a portion of the robotic surgical manipulator. The surgical instrument has a proximal interface and a distal end effector. The proximal interface includes a gimbal assembly with two intersecting rotational axes coupled to the distal end effector. The robotic surgical manipulator has a drive plate that bears against the gimbal assembly. The drive plate has two degrees of rotational freedom about a center of motion that is coincident with an intersection of the axes of the gimbal assembly. The sterile drape includes a sterile sheet covers at least a portion of the robotic surgical manipulator, a frame bonded to the sterile sheet, an instrument interface that covers the drive plate of the robotic surgical manipulator, and a diaphragm that connects the instrument interface to the frame.