Sterility-Preserving Robotic Frontend System With Sensor-Guided Alignment
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Solution Overview
Problem
Current robotic frontend-systems for medical procedures require complex and time-consuming setup processes that compromise sterility, as they involve interactions between sterile and unsterile parts.
Innovation Solution
A sterility-preserving robotic frontend-system featuring a flexible trajectory-guide with force- and torque-transmitting coupling-members, an actuator-unit with sensor capabilities, and a retainer-receptacle to facilitate easy and fast setup while maintaining sterility, allowing for precise adjustment of medical instruments without manual interaction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual adjustment of support structure is used to align instrument trajectory, then precise alignment can be achieved, but setup time increases and sterility is compromised
Solution Approach 1:
The system enables self-alignment through automated sensor feedback and robotic positioning. The sensor unit detects the instrument's longitudinal axis and automatically adjusts the support structure to match the planned trajectory, eliminating manual adjustment and reducing setup time while maintaining precision.
Solution Approach 2:
A sensor unit provides real-time feedback on the instrument's position and orientation. This feedback loop allows the system to automatically correct alignment deviations and verify trajectory accuracy, achieving precise alignment without time-consuming manual procedures.
2Adaptability or versatility
If reusable unsterile parts are connected to sterile parts during setup, then system functionality is achieved, but sterility is compromised
Solution Approach 1:
The system is divided into sterile and non-sterile sections with a clear interface. The sterile trajectory guide can be independently sterilized and connected to the non-sterile robotic support structure through a defined interface, allowing each part to be prepared separately under appropriate conditions while maintaining overall system functionality.
Solution Approach 2:
A sterile barrier or interface mechanism acts as an intermediary between sterile and non-sterile components. This intermediary allows force and position transmission while preventing contamination, enabling connection of reusable unsterile parts to sterile parts without compromising sterility.
3Adaptability or versatility
If complex interaction between sterile and unsterile parts is required for setup, then complete system assembly is achieved, but setup complexity increases
Solution Approach 1:
The system performs self-assembly and self-verification through automated sensors and robotic control. The sensor unit automatically detects component presence and correct positioning, eliminating the need for complex manual interaction procedures while ensuring complete system assembly.
Solution Approach 2:
Manual mechanical adjustment and verification procedures are replaced with automated sensor-based detection and robotic positioning. This substitution simplifies the setup procedure by replacing complex human-operated mechanical interactions with automated electronic sensing and control systems.
Data Source
AI summary
A sterility-preserving robotic frontend-system, including a flexible trajectory-guide including at least one force- and/or torque-transmitting coupling-member, a baffle-member separating a sterile section from a non-sterile section, and a sterility-sleeve attached to the baffle-member; an actuator unit having a sensor unit that senses at least one of a) whether a trajectory-guide is placed with respect to the actuator unit in a manner that allows engaging-members to accurately engage an actuator interface, and b) whether the engaging-members have accurately engaged the actuator-interface; and a retainer-receptacle adapted to temporarily accommodate the trajectory guide, and to restrain flexibility of the trajectory-guide while it is accommodated. A packaging-container having an inner sterile volume containing the retainer-receptacle and the trajectory-guide and a method of setting up such a sterility-preserving robotic frontend-system.