Robotic Surgical Docking Connector With CANopen Interface
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Solution Overview
Problem
Current robotic surgical systems require complex and time-consuming configuration of separate cable connections for motorized surgical end-effectors with sensing devices, which hinders efficient surgical procedures.
Innovation Solution
A docking system that allows quick mounting of motorized surgical end-effectors with sensing devices to KUKA iiwa Med series robots, eliminating the need for separate connections to motion controllers and sensor interfaces, and utilizing a CANopen interface for data communication.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If separate cable connections are configured for motorized surgical end-effectors with sensing devices, then the system provides comprehensive control and sensing capabilities, but the configuration becomes complex and time-consuming
Solution Approach 1:
The docking connector integrates multiple cable connections (power, data, control signals) into a single unified mechanical and electrical interface. This merging of separate connections into one integrated docking mechanism eliminates the complexity of configuring multiple individual cable connections while maintaining comprehensive control and sensing capabilities for motorized surgical end-effectors.
Solution Approach 2:
The docking connector serves multiple functions simultaneously: mechanical mounting, electrical power delivery, data communication via CANopen interface, and control signal transmission. This multi-functional design allows a single component to replace what would otherwise require multiple separate connections, significantly reducing configuration time and operational complexity.
2Device complexity
If multiple separate connections are required for motion controllers and sensor interfaces, then comprehensive control is achieved, but the wire arrangement complexity increases
Solution Approach 1:
The docking connector consolidates motion controller connections and sensor interface connections into a single integrated mechanical and electrical interface. This reduces the number of separate wire arrangements while maintaining all necessary control and sensing connections through the unified CANopen and power interfaces.
3Ease of manufacture
If traditional docking systems are used, then mechanical mounting is achieved, but sterilization processes remain complex
Solution Approach 1:
The system separates the docking connector (which requires sterilization) from the robotic arm and control systems (which remain outside the sterile field). This segmentation allows the docking connector to be designed as a standalone sterilizable component with appropriate materials and sealing, simplifying the sterilization process while maintaining system integration.
Data Source
AI summary
A robotic medical surgical system docking connector. The docking connector has a housing, a plurality of controllers in the housing, a plurality of electrical interfaces in the housing, an interface for connecting the housing to a robotic surgical arm; and a mechanical interface for connecting the housing to a robotic surgical end effector. The housing has first and second handles, a programmable push button on at least one of the first and second handles; and a plurality of cable connectors. The plurality of electrical interfaces may comprise, a digital input output interface, an analog input output interface, a CANopen interface, a USB (5V,GND, Sig1,2) interface; and a programmable MCU interface.