Robotic Surgical Instrument Drive Rotational Limits
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Solution Overview
Problem
Robotic surgical systems lack a mechanism to monitor and control the rotation of instrument drive units and surgical instruments to prevent damage from excessive rotation, which is a limitation in using various surgical instruments like staplers and electrosurgical instruments.
Innovation Solution
An instrument drive unit with a rotational position sensing system, comprising a hub, motor pack, and annular members, that includes sensors to detect and regulate the rotation of the surgical instrument, preventing over-rotation by using stops and channels to limit the range of motion and communicate with control circuitry to stop motor operation when thresholds are reached.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If the instrument drive unit and surgical instrument are made rotatable to simplify the surgical instrument design, then the surgical instrument structure is simplified and more versatile, but the internal components may be damaged due to excessive rotation
Solution Approach 1:
The patent applies preliminary action by pre-establishing rotational limit stops within the instrument drive unit before rotation occurs. The stop features are pre-positioned on the hub and annular member to define maximum rotation thresholds, preventing excessive rotation before it can cause damage. This proactive measure allows the surgical instrument to be rotatable and simplified in design while protecting internal components through预先 set mechanical constraints.
2Reliability
If rotational monitoring and control mechanisms are added to prevent over-rotation, then component damage is prevented, but the device complexity increases
Solution Approach 1:
The patent uses an intermediary mechanical approach by introducing annular members with stop features that act as mediators between the rotating motor pack and the fixed hub. These annular members with integrated stop features provide rotational limiting functionality without requiring complex electronic sensors, controllers, or feedback systems. The mechanical stops serve as simple intermediaries that passively enforce rotation limits, achieving component protection with minimal added complexity.
3Reliability
If mechanical stops and annular members are introduced to limit rotation, then over-rotation is prevented, but the device structure becomes more complex
Solution Approach 1:
The patent applies merging by integrating the rotational limiting function directly into the existing annular members that are part of the drive mechanism. Rather than adding separate, independent stop mechanisms, the stop features are combined with the annular members that already exist in the rotational drive structure. This integration approach enforces rotation limits while minimizing structural complexity by utilizing and enhancing existing components rather than adding entirely new ones.
Data Source
AI summary
An instrument drive unit includes a hub, a motor pack, and an annular member disposed between the hub and the motor pack. The hub and motor pack each have a surface feature. The motor pack is rotatably coupled to the hub. The annular member defines an upper annular channel, and a lower annular channel. The annular member has a stop formed in each of the upper and lower annular channels. Upon the motor pack achieving a threshold amount of rotation relative to the hub, the surface feature of the motor pack abuts the stop of the lower annular channel to rotate the annular member. Upon the annular member achieving a threshold amount of rotation relative to the hub, the stop of the upper annular channel abuts the surface feature of the hub stopping further rotation of the motor pack.