Robotic Surgical Instrument Drive Unit with Nested Motors
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Solution Overview
Problem
Robotic surgical systems lack a handle assembly to actuate the functions of surgical instruments, requiring an instrument drive unit for operation, which can be complex and inefficient.
Innovation Solution
A surgical assembly with an electromechanical instrument and an instrument drive unit, featuring a hollow core motor and feedback assembly, allows for selective connection to a robotic arm, enabling precise rotation and actuation of the surgical instrument along a longitudinal axis, with the instrument drive unit including an outer shell, inner hub, and motors for effective operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If an instrument drive unit is used to interface with surgical instruments in robotic surgical systems, then the system can operate without a handle assembly, but the device complexity increases
Solution Approach 1:
The patent combines multiple drive functions into a single integrated instrument drive unit. The drive unit integrates motor assemblies, gear mechanisms, and coupling interfaces for multiple surgical instruments (e.g., scissors, forceps, stapler) into one unified structure, reducing overall system complexity while maintaining operational capability without handle assemblies
Solution Approach 2:
The instrument drive unit is designed with universal interfaces and multiple drive mechanisms that can accommodate various surgical instruments. The unit includes separate drive assemblies (first and second drive mechanisms) that can independently operate different instrument types, making the system multi-functional and adaptable to different surgical needs without requiring separate handle assemblies for each instrument
2Adaptability or versatility
If multiple separate linear actuator mechanisms are used for each manipulator, then each instrument can be independently controlled, but the device complexity and space requirements increase
Solution Approach 1:
The patent merges multiple actuator functions into an integrated instrument drive unit with centralized motor assemblies. Instead of having separate linear actuators for each manipulator base, the system uses combined drive mechanisms within the drive unit that can independently control multiple instruments through coordinated mechanical linkages and gear systems
Solution Approach 2:
The drive mechanisms are nested within the instrument drive unit structure. The first and second drive mechanisms are positioned within the outer shell of the drive unit, with motors, gears, and transmission components arranged in nested configurations that save space while maintaining independent control capabilities for each instrument manipulator
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 provides a reliable and efficient means to drive the operation of surgical instruments within robotic surgical systems, enhancing precision and usability by enabling controlled rotation and actuation of the instrument, addressing the lack of a handle assembly in robotic systems.
Implementation Method 1
The first motor is disposed within the outer shell and configured to be operably coupled to the driven member of the electromechanical instrument
Implementation Method 2
The second motor is disposed within the outer shell and includes an outer stator and an inner rotor. Actuation of the second motor rotates the inner hub to effect rotation of the electromechanical instrument along a longitudinal axis thereof
Data Source
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AI summary
A surgical assembly includes an electromechanical instrument and an instrument drive unit. The electromechanical instrument includes a housing portion and a shaft. The instrument drive unit includes an outer shell, an inner hub, a first motor, and a second motor. The outer shell is configured to be selectively coupled to a robotic arm. The inner hub is rotatably disposed within the outer shell and configured to be non-rotatably coupled to the housing portion of the electromechanical instrument. The second motor is disposed within the outer shell and includes an outer stator fixedly coupled to the outer shell, and an inner rotor rotatably disposed within the outer stator. The inner rotor has an inner surface that defines a longitudinal channel having the inner hub non-rotatably disposed therein. Actuation of the second motor rotates the inner hub to effect rotation of the electromechanical instrument along a longitudinal axis thereof.