Robotic Surgical Driver Interface Drape Detection Mechanism
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Solution Overview
Problem
In robotic surgical systems, there is a challenge in reliably confirming whether a sterile drape is attached to the robot arm before mounting the adaptor, as mistakes can occur where the adaptor is mounted without the drape being attached, leading to potential contamination risks.
Innovation Solution
A driver interface with a detection mechanism is introduced, featuring a drive member, actuator, housing with a drape detection opening, a movable detection member, and a sensor that detects the detection member's position change when the drape is brought into contact, allowing for accurate detection of the drape's attachment and prevention of incorrect adaptor mounting.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the adaptor is mounted directly to the robot arm interface without a detection mechanism, then the mounting process is simple and quick, but the reliability of confirming drape attachment is insufficient
Solution Approach 1:
A detection member is introduced as an intermediary element between the drape and the sensor. This detection member physically contacts the drape when attached and transmits this contact information to the sensor, enabling reliable detection without complicating the overall mounting process. The detection member acts as a mediator that converts the physical state of drape attachment into detectable signal changes.
Solution Approach 2:
The patent replaces manual visual inspection or complex mechanical verification mechanisms with a sensor-based detection system. The sensor automatically detects the position changes of the detection member and generates electrical signals to confirm drape attachment, substituting mechanical verification with an automated sensing mechanism that improves reliability without significantly increasing complexity.
2Reliability
If a detection mechanism is added to the driver interface, then the reliability of drape attachment detection is improved, but the device complexity increases
Solution Approach 1:
The detection member serves multiple functions: it acts as a mechanical interface for the drape, a sensing element for the sensor, and a position indicator for detection. By making the detection member multi-functional, the patent reduces the need for separate components for each function, thereby improving reliability while minimizing the increase in device complexity.
Solution Approach 2:
The detection mechanism utilizes the existing structural elements of the driver interface and adaptor assembly. The detection member leverages the natural movement and positioning that occur during normal adaptor mounting operations to trigger detection, rather than requiring separate actuation mechanisms. This self-service approach allows reliable detection without adding significant complexity to the system.
3Difficulty of detecting and measuring
If the detection member is always protruded from the housing, then the drape attachment can be easily detected, but the detection member may interfere with adaptor mounting operations
Solution Approach 1:
The detection member is designed to be movable rather than fixed, allowing it to dynamically adjust its position based on operational needs. It protrudes when drape attachment needs to be detected and retracts when adaptor mounting operations require clear access. This dynamic positioning resolves the contradiction by making the detection member adaptable to different operational phases.
Solution Approach 2:
The detection member is positioned to protrude only when needed for detection purposes, such as when the drape is being attached or verified. Before mounting operations begin, the detection member can be retracted to avoid interference. This preliminary positioning ensures that detection capability is available when needed while preventing interference during critical mounting operations.
Data Source
AI summary
A driver interface provided to a robot arm of a robotic surgical system according to an embodiment may include: a drive member provided corresponding to a drive transmission member provided on an adaptor; an actuator to drive the drive member to rotate; and a housing accommodating the actuator therein and including a drive member opening at a location corresponding to the drive member and a drape detection opening. The driver interface may further include a detection member movable between a protrusion position at which a part of the detection member is protruded from the drape detection opening of the housing, and a withdrawal position at which the detection member is withdrawn into the drape detection opening of the housing. The driver interface may further include a sensor configured to detect the detection member is moved to the withdrawal position as a drape is brought into contact with the detection member.