Sterile Interface Module for Rapid Robotic Instrument Exchange
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Solution Overview
Problem
Robotic surgical systems face challenges in maintaining sterility during instrument exchange and lack efficient mechanisms for removing or exchanging surgical instruments, which can lead to contamination of sterile components.
Innovation Solution
A sterile interface module with a decoupling collar and drive transfer assembly that allows for secure coupling and decoupling of surgical instruments to the robotic surgical assembly, while maintaining sterility and enabling efficient instrument exchange.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the surgical instrument is manually removed or exchanged from the robotic arm, then instrument exchange can be performed, but the process is cumbersome and time-consuming
Solution Approach 1:
The interface module incorporates a decoupling collar that can dynamically transition between locked and unlocked positions, enabling rapid instrument exchange. The collar moves from a first position where locking tabs engage with the robotic arm to a second position where instruments can be quickly removed, eliminating cumbersome manual removal processes
Solution Approach 2:
The interface module is segmented into distinct functional components: a body member, a decoupling collar, locking tabs, and a reset cam. This segmentation allows the locking and release functions to be independently controlled, enabling efficient instrument exchange while maintaining structural integrity during robotic control
2Ease of operation
If the interface is exposed to non-sterile portions of the surgical instrument, then instrument coupling is simplified, but contamination of sterile components occurs
Solution Approach 1:
The interface module serves as a sterile intermediary barrier between the non-sterile surgical instrument and the sterile robotic arm. The body member and decoupling collar are configured to maintain sterile boundaries while still enabling mechanical coupling and drive transfer, thus simplifying instrument coupling without compromising sterility
Solution Approach 2:
The interface module employs sealing structures and barrier configurations that flexibly accommodate instrument insertion while preventing contamination. The design allows the sterile field to be maintained through controlled interfaces that prevent harmful factors from crossing between sterile and non-sterile zones
3Reliability
If the drive coupler remains engaged with the robotic surgical assembly, then robotic control is maintained, but instrument removal becomes difficult
Solution Approach 1:
The drive coupler is designed with dynamic engagement capabilities through the decoupling collar mechanism. When the collar is in the first position, the drive coupler remains engaged with the robotic surgical assembly for reliable robotic control. When the collar moves to the second position, the drive coupler can be disengaged to facilitate easy instrument removal
Solution Approach 2:
The reset cam is configured to preliminarily prepare the drive coupler for re-engagement after instrument removal. The cam mechanism pre-positions the drive coupler components to ensure smooth and reliable re-engagement with the robotic surgical assembly, maintaining control reliability while enabling easy instrument exchange
Data Source
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AI summary
A sterile interface module for coupling an electromechanical robotic surgical instrument to a robotic surgical assembly, the sterile interface module comprising a body member configured to selectively couple the surgical instrument to the robotic surgical assembly, a decoupling collar supported on the body member and movable relative to the body member from a first position to a second position and a drive transfer assembly supported by the body member and including a drive coupler and a transfer shaft extending from the drive coupler, the drive coupler engagable with the robotic surgical assembly and the transfer shaft engagable with the surgical instrument, the drive coupler configured to engage the robotic surgical assembly while the decoupling collar is in the first position to enable the robotic surgical assembly to robotically control the surgical instrument, the drive coupler retracted within the body member while the decoupling collar is in the second position to prevent the drive coupler from engaging the robotic surgical assembly; further comprising a reset cam supported in the sterile interface module and configured to selectively reset the sterile interface module after the decoupling collar is moved from the first position toward the second position.