Robotic Surgical Instrument Drive Unit for Compact Bottom Loading
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Solution Overview
Problem
Surgical robotic systems lack a handle assembly to actuate the functions of surgical instruments, requiring an instrument drive unit to interface with each instrument, which complicates the operation and movement of surgical instruments within the robotic system.
Innovation Solution
An instrument drive unit is designed with a carriage coupled to a robotic arm, featuring electric motors, drive shafts, and gears that allow for the actuation of surgical instruments by rotating drive gears to perform discrete functions, enabling bottom-loading of surgical instruments and reducing the overall height of the drive unit.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If an instrument drive unit is used to interface with each surgical instrument, then the surgical instrument can be actuated in a robotic system, but the system complexity increases
Solution Approach 1:
The instrument drive unit is segmented into distinct functional modules: electric motors for actuation, drive shafts for power transmission, and gears for motion control. Each component is independently designed and can be separately manufactured, maintained, and replaced, reducing overall system complexity while maintaining full automation capability.
Solution Approach 2:
The instrument drive unit is designed as a universal interface that can actuate multiple different surgical instruments through standardized mounting mechanisms. The same drive unit structure with motors, shafts, and gears can accommodate various end effectors including forceps, cutting tools, and stapling devices, eliminating the need for multiple specialized drive units.
2Volume of moving object
If multiple electric motors and drive components are integrated in the instrument drive unit, then compact design is achieved, but manufacturing complexity increases
Solution Approach 1:
The drive components are arranged in a nested configuration where drive shafts are positioned within motor housings, and gears are integrated into the shaft assemblies. This nesting allows multiple functional elements to occupy overlapping spatial volumes, achieving compact dimensions without requiring complex multi-piece manufacturing processes.
Solution Approach 2:
Multiple functional components are merged into integrated assemblies: drive shafts combine power transmission and structural support functions, while gears are directly mounted on shafts to eliminate separate coupling components. This merging reduces the total number of parts and simplifies manufacturing while maintaining compact form factor.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution enhances the usability and compactness of the surgical robotic system, improving safety and simplifying the electronics, while allowing for efficient operation and quick removal of instruments, and provides a more intuitive interface for surgical procedures.
Implementation Method 1
A plurality of electric motors are disposed about the plurality of drive shafts. Each electric motor includes a stator and a rotor disposed within the stator. Each rotor is configured to rotate a corresponding drive gear in response to an activation of a respective electric motor
Implementation Method 2
A plurality of drive gears are provided. Each drive gear is fixed to a corresponding drive shaft and is configured for interfacing with a corresponding driven member of the electromechanical surgical instrument. Each rotor is configured to rotate a corresponding drive gear
Data Source
AI summary
An instrument drive unit for use in a robotic surgical system includes a carriage configured to be coupled to a robotic arm, a plurality of drive shafts rotationally supported in the carriage, a plurality of electric motors disposed about the plurality of drive shafts, and a plurality of drive gears. Each electric motor includes a stator and a rotor disposed within the stator. Each drive gear is fixed to a corresponding drive shaft and is configured for interfacing with a corresponding driven member of the electromechanical surgical instrument. Each rotor is configured to rotate a corresponding drive gear in response to an activation of a respective electric motor to actuate a function of the electromechanical surgical instrument.