Robotic Surgical Instrument Drive Connector Locking Mechanism
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Solution Overview
Problem
Robotic surgical systems face challenges in preventing the inadvertent removal of end effectors during the exchange process, as clinicians may accidentally detach them by activating the wrong button or switch.
Innovation Solution
The instrument drive connector features a locking mechanism with a first drive assembly, including a drive screw, nut, and locking link, which moves between locking and non-locking positions to secure the end effector in place, preventing accidental detachment by using a switch actuation assembly with a coil spring and a finger switch for manual control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual detachment of end effector is enabled during surgical procedure, then end effector exchange is facilitated, but inadvertent removal occurs when wrong button or switch is activated
Solution Approach 1:
The system performs preliminary actions by requiring multiple sequential steps (actuating the release mechanism, moving the end effector to disconnected position, system detection and confirmation) before completion of end effector detachment. This preliminary action sequence prevents inadvertent removal by ensuring intentional user intent through multiple deliberate actions rather than a single button press.
Solution Approach 2:
The system implements feedback mechanisms where the control circuit detects the position of the end effector relative to the robot arm, provides visual or audible feedback to confirm proper attachment or detachment status, and prevents system operation until proper state is achieved. This feedback loop ensures reliability by confirming intentional detachment rather than accidental occurrence.
2Reliability
If locking mechanism is added to prevent inadvertent removal, then reliability improves, but device complexity increases
Solution Approach 1:
The locking mechanism operates through self-service principles where the system automatically detects end effector position, automatically engages or disengages locking features, and automatically provides feedback to the user. The drive mechanism automatically moves the end effector between connected and disconnected positions without requiring complex manual manipulation, reducing overall system complexity while maintaining high reliability.
Solution Approach 2:
The patent merges multiple functions into integrated components: the release mechanism combines locking and unlocking functions, the drive mechanism combines positioning and detachment functions, and the control system combines detection, decision-making, and feedback functions. This merging reduces device complexity by eliminating separate mechanisms for each function while maintaining reliable end effector attachment and detachment.
3Force
If multiple drive assemblies are integrated in instrument drive connector, then force transmission capability improves, but manufacturing complexity increases
Solution Approach 1:
The instrument drive connector is segmented into multiple independent drive assemblies, each responsible for transmitting specific forces or motions to the end effector. Each drive assembly (first drive assembly, second drive assembly, third drive assembly) can be manufactured and tested separately, then assembled into the final connector. This segmentation improves force transmission capability through specialized mechanisms while reducing manufacturing complexity through modular assembly processes.
Solution Approach 2:
The drive assemblies utilize universal components and standardized interfaces that can serve multiple functions: the threaded drive mechanisms provide both linear motion and force transmission, the linkages provide both positioning and locking functions, and the electrical contacts provide both power and data transmission. This multi-functionality reduces manufacturing complexity by using the same basic component types for different purposes rather than requiring specialized parts for each function.
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 significantly reduces the likelihood of inadvertent removal of end effectors during the exchange process, ensuring secure attachment and detachment, thereby enhancing the safety and reliability of robotic surgical procedures.
Implementation Method 1
The coil spring biases the switch actuating arm towards the distal locking position and is movable to the proximal non-locking position
Data Source
AI summary
An instrument drive connector includes a housing assembly, an elongated shaft extending distally from the housing assembly, and a first drive assembly at least partially disposed within the housing assembly and the elongated shaft. The first drive assembly includes a first drive screw, a first input drive coupler non-rotatably coupled to a proximal end of the first drive screw, a first drive nut threadedly engaged with a threaded body portion of the first drive screw and longitudinally movable relative thereto in response to rotation of the first drive screw, and a locking link. The locking link includes an elongated body having a proximal end portion coupled to the first drive nut and longitudinally movable relative thereto between a proximal non-locking position and a distal locking position, and a distal end portion including a switch actuation assembly including a switch actuating arm biased towards the distal locking position.