Surgical Instrument Drive Coupling for Fast Secure Tool Changes
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Solution Overview
Problem
Existing robotic surgical systems face challenges in providing quick and easy mechanical and electrical engagement with a variety of surgical instruments, particularly in coupling unique end effectors, which complicates the installation and operation of surgical instruments during minimally invasive procedures.
Innovation Solution
The instrument drive assembly incorporates a housing assembly, a coupling tube, a coupling assembly, and a retention mechanism, featuring a drive screw, drive nut, and a drive member with an engagement region that facilitates the coupling and uncoupling of surgical instrument drive shafts, along with a retention mechanism that can be biased between locked and unlocked configurations to secure or release the instrument sleeve, allowing for slidable positioning along the coupling tube.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a traditional mechanical coupling system is used to connect surgical instruments to the robot arm, then the connection is secure and reliable, but the installation and uncoupling process becomes time-consuming and complex
Solution Approach 1:
The coupling system employs dynamic elements including a spring-loaded socket that flexes radially outward to facilitate coupling and uncoupling of the coupling ball, and a retention mechanism with movable components that can transition between locked and unlocked states. This dynamic design enables quick instrument changes while maintaining secure connection during surgery.
2Reliability
If multiple specialized coupling mechanisms are designed for different surgical instruments, then each instrument can be securely connected, but the device complexity and difficulty of operation increase
Solution Approach 1:
The coupling assembly is designed as a universal interface that can accommodate various surgical instruments with unique end effectors. The standardized coupling mechanism with its flexible socket and retention system provides a single, unified approach to connecting different instrument types, eliminating the need for multiple specialized coupling mechanisms.
3Ease of operation
If a simple coupling mechanism is used to enable quick instrument changes, then the installation process is fast and easy, but the connection reliability and security are compromised
Solution Approach 1:
The coupling system is divided into distinct functional components: a coupling ball on the instrument, a flexible socket in the drive member, and a separate retention mechanism with movable members. This segmentation allows each component to perform its specific function optimally - the ball-and-socket provides easy mechanical coupling while the retention mechanism ensures secure connection, and the spring-loaded socket facilitates quick engagement.
4Reliability
If a rigid coupling structure is used to ensure stable connection, then the connection is secure, but the ease of coupling and uncoupling is reduced
Solution Approach 1:
The socket is designed to change its physical parameters dynamically - it flexes radially outward during coupling to accommodate the coupling ball, then returns to its original position to provide a secure fit. The retention mechanism also changes state between locked and unlocked configurations, allowing the system to transition between easy coupling and stable connection states.
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
This solution enables efficient and secure coupling of surgical instruments with unique end effectors, simplifying the installation process and ensuring reliable actuation of surgical instruments during robotic surgical procedures, enhancing the operational efficiency of robotic surgical systems.
Implementation Method 1
The drive screw includes a threaded portion, and the drive nut is threadably engaged with the threaded portion of the drive screw. Rotation of the drive screw results in longitudinal translation of the drive nut along a longitudinal axis of the drive screw.
Implementation Method 2
A spring element is disposed within the longitudinal cavity and is configured to bias the retention mechanism into the locked configuration.
Implementation Method 3
The socket may flex radially outward to facilitate coupling and uncoupling of the coupling ball of the instrument drive shaft to the engagement region of the drive member.
Data Source
AI summary
An instrument drive assembly includes a housing assembly and a coupling assembly. The housing assembly includes a drive assembly. The coupling assembly releasably couples an instrument drive shaft to a drive member of the drive assembly and an instrument sleeve of the surgical instrument to the housing assembly. Actuation of a retention mechanism of the coupling assembly between a locked and unlocked configuration couples and decouples the instrument sleeve of the surgical instrument therewith.