Surgical Arm End Effector Coupler with Retractable Pin Lock
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Solution Overview
Problem
Surgical procedures require instruments to be held in a single position for extended periods, necessitating adjustable mechanical or electromechanical arms, but existing solutions lack efficient methods for quickly and securely attaching various tools to these arms.
Innovation Solution
The use of an end effector coupler with a taper-to-taper arrangement and a keyed locking mechanism, including a retractable pin, to securely attach and detach tools from the surgical arm, allowing for quick tool changes and secure positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Duration of action of stationary object
If mechanical or electromechanical arms are used to hold instruments in position, then the instrument can be maintained in a single position for extended periods, but the method for attaching and detaching tools becomes complex and time-consuming
Solution Approach 1:
The coupling mechanism is divided into separate components: a coupler body with a receptacle, a tool with a shaft, and a locking mechanism with a pin. These segmented parts can be quickly assembled and disassembled, enabling rapid tool changes while maintaining secure holding capability during surgery.
Solution Approach 2:
The coupler and tool are designed with pre-configured geometric features (receptacle shape, shaft profile, locking surfaces) that enable immediate engagement and locking upon assembly. The preliminary design of these interfaces ensures that no additional adjustment or preparation is needed during the attachment process.
2Adaptability or versatility
If adjustable mechanical arms are used to support instruments, then the arm position can be adjusted before or during the procedure, but the tool attachment mechanism lacks efficiency for quick changes
Solution Approach 1:
The coupling system incorporates a dynamic locking mechanism that transitions from unlocked to locked state. The pin can be retracted to allow free movement during attachment, then extended to lock the tool securely in place, providing both ease of operation and secure positioning.
Solution Approach 2:
The coupler acts as an intermediary device between the mechanical arm and the surgical tool. It provides a standardized interface that simplifies tool attachment while maintaining the adjustability of the arm, serving as a mediator that resolves the conflict between versatility and ease of operation.
3Reliability
If a secure locking mechanism is implemented for tool attachment, then the tool positioning becomes stable during procedures, but the complexity of the attachment mechanism increases
Solution Approach 1:
The locking function is extracted as a separate, dedicated mechanism (the pin and recess) rather than being integrated into the main coupler body. This modular approach provides reliable locking while keeping the overall design relatively simple and easy to manufacture.
Solution Approach 2:
The locking mechanism is designed to be self-actuating through a simple pin insertion motion. The geometric features of the shaft and receptacle automatically guide the pin into the locked position, eliminating the need for complex actuators or multiple adjustment steps.
Data Source
AI summary
An end effector coupler for a surgical arm can include an end effector body, a proximal coupler, and a tool lock. The tool lock can releasably retain a tool stem to the end effector coupler. The tool lock can include a keyed opening, a pin bore, a pin disposed in the bin bore, a biasing element located in the pin bore, and a pin release including an actuator, the pin release operable to retract the pin into to the end effector body to disengage the pin from the tool stem allowing release of the tool stem from the keyed opening.