Surgical Robotic Instrument Drive Unit Actuation
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Solution Overview
Problem
Surgical robotic systems lack a handle assembly to actuate 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 coupled to a robotic arm, featuring electric motors, drive shafts, and gears that allow for actuation of electromechanical surgical instruments, enabling precise movement and function actuation without a handle assembly, including a rotatable hub and vertically stacked ring gears for compactness and efficient operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If an instrument drive unit is used to interface with each surgical instrument, then the surgical instrument can be actuated without a handle assembly, but the device complexity increases
Solution Approach 1:
The patent combines multiple drive mechanisms (electromechanical actuators, cables, pulleys) into an integrated instrument drive unit that interfaces with the surgical instrument at a single location, eliminating the need for separate handle assemblies while consolidating control functions
Solution Approach 2:
The instrument drive unit is designed as a universal interface that can actuate multiple functions of the surgical instrument (firing, articulation, jaw movement) through a single integrated device, making the system adaptable to different surgical instrument configurations
2Volume of moving object
If vertically stacked ring gears are used in the hub, then the footprint is reduced and compactness is improved, but the manufacturing precision requirements increase
Solution Approach 1:
The patent transitions from a horizontal arrangement of gears to a vertical stacking configuration, utilizing the vertical dimension to reduce the horizontal footprint of the instrument drive unit while maintaining functional requirements through precise vertical alignment of the ring gears
3Adaptability or versatility
If multiple electric motors are disposed within the carriage, then the actuation capability is improved, but the device complexity and space requirements increase
Solution Approach 1:
The patent consolidates multiple electric motors within a single carriage structure, integrating their mounting, wiring, and control into one unified component assembly, which reduces overall system complexity despite the increased number of actuators
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, allowing for efficient actuation of surgical instruments, reducing the footprint, and simplifying the electronics, while improving safety and emergency instrument removal procedures.
Implementation Method 1
A plurality of electric motors are disposed within the carriage. Each electric motor includes a stator and a rotor disposed within the stator. Each rotor is configured to rotate a corresponding drive gear in response to an activation of a respective electric motor
Implementation Method 2
Each drive gear is fixed to a corresponding drive shaft and configured for interfacing with a corresponding driven member of the electromechanical surgical instrument. Each rotor is configured to rotate a corresponding drive gear
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 hub rotationally coupled to the carriage and configured to be non-rotatably coupled to an electromechanical surgical instrument, a plurality of electric motors disposed within the carriage, a plurality of drive shafts rotationally supported in the hub, and a plurality of drive gears. Each electric motor includes a stator and a rotor disposed within the stator. Each drive gear is fixed to a corresponding drive shaft and is configured for interfacing with a corresponding driven member of the electromechanical surgical instrument. Each rotor is configured to rotate a corresponding drive gear in response to an activation of a respective electric motor to actuate a function of the electromechanical surgical instrument.