Surgical Robotic Instrument Drive Unit Actuation
Find Innovative SolutionsGenerate Solutions
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, electric motors, drive shafts, and gears, allowing for the actuation of surgical instruments by rotating drive shafts and tubular shafts to perform discrete functions of the surgical instrument, enabling bottom-loading and compact design.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If an instrument drive unit is used to interface with each surgical instrument, then the surgical instrument can be actuated within the robotic system, but the operation and movement of surgical instruments becomes complicated
Solution Approach 1:
The instrument drive unit is designed with a universal interface that can accommodate multiple different surgical instruments through a single standardized mechanism. The carriage system with multiple drive shafts and the slide mechanism provide multi-functional capabilities to actuate various instruments without requiring separate complex interfaces for each instrument type, thereby reducing operational complexity while maintaining versatility
2Adaptability or versatility
If the instrument drive unit includes multiple electric motors and drive shafts, then the surgical instrument functions can be actuated, but the device size and complexity increase
Solution Approach 1:
The instrument drive unit employs a nested arrangement where multiple drive shafts are concentrically positioned within the carriage, and the carriage itself is mounted on the slide mechanism. This nesting allows multiple actuation functions to be compactly integrated without proportionally increasing device complexity, as components are space-efficiently arranged in a hierarchical structure
3Ease of operation
If the slide mechanism is used to move the instrument drive unit along an axis, then the axial position of the end effector can be adjusted, but the device complexity increases
Solution Approach 1:
The slide mechanism is extracted as a separate, dedicated component that handles exclusively the axial positioning function. By isolating this specific movement function into a dedicated mechanism rather than integrating it into the main drive unit structure, the complexity of position adjustment is simplified and modularized, making the overall system easier to operate while managing complexity through functional separation
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 instrument drive unit enhances the usability and compactness of surgical robotic systems, improving safety and simplifying the electronics, while allowing for efficient actuation of surgical instruments within the robotic system.
Implementation Method 1
Each electric motor includes a stator and a rotor disposed within the stator. Each rotor is configured to rotate a corresponding drive shaft in response to an activation of a respective electric motor
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, and a plurality of concentric, tubular shafts extending through the plurality of electric motors. Each electric motor includes a stator and a rotor disposed within the stator. Each drive shaft is configured for interfacing with a corresponding driven member of the electromechanical surgical instrument. A rotation of a rotor of an electric motor rotates a corresponding tubular shaft, which, in turn, rotates a corresponding drive shaft to actuate a function of the electromechanical surgical instrument.