Sterile End Effector Interface for Surgical Tool Exchange
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Solution Overview
Problem
The challenge exists in changing surgical end effectors while maintaining a sterile barrier during a surgical procedure, as non-sterile robots need to be exposed to a sterile environment for tool exchange and power/data transfer.
Innovation Solution
A system with a connecting plate and kinematic interface that allows for secure attachment of end effectors to a robot flange, while maintaining sterility through a drape integration and electrical connectors that transfer power and data without breaking the sterile barrier.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the robot flange is exposed to the sterile environment for end effector exchange, then tool exchange and power/data transfer can be performed, but the sterile barrier is compromised
Solution Approach 1:
The system is divided into sterile and non-sterile zones separated by a drape. The connecting plate with kinematic interface acts as a transition element that can be sterilized and positioned in the sterile zone, while the robot flange remains in the non-sterile zone. This segmentation allows end effector exchange without compromising the overall sterile barrier.
Solution Approach 2:
The connecting plate serves as an intermediary component between the non-sterile robot flange and the sterile end effector. It features a kinematic interface that interfaces with both the robot flange and the end effector, enabling tool exchange while maintaining the sterile boundary. The electrical connector also acts as an intermediary for power and data transfer across the sterile barrier.
2Strength
If a rigid connection is used for end effector attachment, then secure mounting is achieved, but the drape may be damaged
Solution Approach 1:
The drape is implemented as a flexible thin film barrier that can accommodate the connection mechanics. The connecting plate with its kinematic interface and locking assembly is designed to work with this flexible barrier, allowing secure end effector mounting while the drape flexes appropriately without tearing or compromising sterility.
Solution Approach 2:
The locking mechanism and rigid connection elements are extracted to the connecting plate and end effector components, away from direct contact with the drape. The drape serves only as a protective barrier, while the mechanical connection is established through the sterilizable connecting plate, separating the functions of protection and secure mounting.
3Adaptability or versatility
If electrical connectors are exposed for power and data transfer, then connectivity is enabled, but the sterile barrier is breached
Solution Approach 1:
The electrical connector acts as an intermediary that transfers power and data signals across the sterile barrier without physically breaching it. The connector is positioned such that it can make electrical contact between the robot flange and end effector while the drape maintains the sterile boundary, enabling connectivity without compromising sterility.
Solution Approach 2:
The connecting plate assembly serves multiple functions: it provides the kinematic interface for mechanical connection, houses the electrical connector for power and data transfer, and interfaces with the drape for sterile barrier maintenance. This multi-functionality allows a single component to address both connectivity and sterility requirements.
Data Source
AI summary
Systems and methods for changing an end effector are provided. A connecting plate may have a first side, a second side opposite the first side, and a kinematic interface. The kinematic interface may include at least one projection extending from both the first side and the second side. A robot flange may have a first kinematic receiver including at least one recess for receiving a corresponding projection of the at least one projection of the first side. An end effector may have a second kinematic receiver and a locking assembly. The second kinematic receiver may include at least one recess for receiving a corresponding projection of the at least one projection of the second side. The locking assembly may be configured to releasably secure the end effector to the robot flange.