Sterile Drive Interface for Robotic Surgery Torque Transmission
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Solution Overview
Problem
In robotically-assisted surgical systems, the sterile barrier provided by conventional drapes is not effective, leading to potential contamination of surgical instruments and tools due to exposure to non-sterile components.
Innovation Solution
A sterile drive interface apparatus is introduced, which forms a fluid-tight barrier between the instrument driver and the instrument assembly, using a drape with fins and a shield to create a seal, and includes spline shafts and flanges that rotate with reduced friction, ensuring the sterile environment is maintained during minimally invasive procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a conventional drape with holes or openings is used to cover the instrument driver, then the instrument driver can be covered to provide some barrier, but the sterile barrier is not completely effective and surgical instruments may become contaminated
Solution Approach 1:
A sterile adapter is introduced as an intermediary component between the non-sterile instrument driver and the sterile surgical instruments. The adapter includes a sterile adapter interface that couples to the instrument driver and a sterile instrument interface that couples to the surgical instruments, creating a sterile barrier that prevents contamination while allowing mechanical coupling and torque transmission.
Solution Approach 2:
The sterile adapter is divided into distinct segments: a non-sterile portion that interfaces with the instrument driver and a sterile portion that interfaces with the surgical instruments. This segmentation allows each portion to serve its specific function while maintaining the sterile barrier, with the sterile portion being removable and replaceable.
2Reliability
If a sterile drape is used to separate the instrument driver from the instrument assembly, then a barrier is created, but torque transmission and motion transfer are hindered by the drape material
Solution Approach 1:
The sterile adapter acts as a mediator that transmits torque from the non-sterile instrument driver through the sterile barrier to the sterile surgical instruments. The adapter includes torque transmission mechanisms such as drive pins, drive gears, and drive pulleys that efficiently transfer mechanical force while maintaining the sterile separation.
Solution Approach 2:
The patent replaces the conventional mechanical connection that would require direct contact with a sterile adapter system that uses controlled mechanical transmission through the sterile barrier. The adapter uses specialized components like spline shafts, flanges, and pulley systems that are designed to transmit torque through the sterile interface without compromising sterility.
3Reliability
If the sterile adapter interface is complex to ensure complete sterility, then contamination is prevented, but the device complexity increases
Solution Approach 1:
The sterile adapter is segmented into modular components including a sterile adapter interface, sterile adapter, and sterile instrument interface. The sterile adapter itself is segmented into a non-sterile portion and a sterile portion, allowing for simplified design of each segment while maintaining overall sterility through the modular architecture.
Solution Approach 2:
The sterile portion of the adapter is designed as a disposable component that can be sterilized and discarded after use, eliminating the need for complex sterilization and maintenance procedures for the entire adapter assembly. This reduces the complexity of the reusable portions while maintaining sterile barrier integrity.
Data Source
AI summary
A robotic surgical system configured to perform minimally invasive surgical procedures. In one variation, this robotic surgical system includes an instrument driver configured to steer an elongate instrument of an instrument assembly in one or more degrees of motion. A drape is disposed between the instrument driver and the instrument assembly. A drive interface apparatus is operatively coupled to the drape. The drape and drive interface apparatus may form a fluid barrier between the instrument driver and the instrument assembly. Drive interface apparatus may be disposed on a top surface of the instrument driver and on a bottom surface of the instrument assembly. The drive interface apparatus may transmit torque from the instrument driver to the instrument assembly. The input torque drives a pulley in the instrument assembly that operates one or more control wires to steer an elongate instrument of the instrument assembly for performing minimally invasive surgical procedures.