Surgical Tool Gripper with Concentric Shutter for Centering

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Solution Overview

Problem

Existing surgical robotic systems face challenges in accurately positioning and manipulating a wide variety of surgical tools, especially those with non-circular cross-sections or irregular dimensions, due to difficulties in centering and securely gripping these tools.

Innovation Solution

The development of a gripper mechanism with an integrated concentric shutter mechanism that can accommodate tools of varying diameters and shapes, ensuring the tool's center is always known and fixed relative to the robotic arm, allowing for precise control and operation.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If a conventional gripper is used to hold surgical tools, then the gripper can accommodate tools of various shapes and dimensions, but the tool's orientation and position relative to the robotic arm become uncertain and difficult to track

Engineering Contradiction:

Improveability to accommodate various tool shapes and dimensionsVSAvoidtool orientation and position accuracy

Core Design Contradiction:

Adaptability or versatilityVSMeasurement precision

Solution Approach 1:

A concentric shutter mechanism is introduced as an intermediary component between the gripper and the surgical tool. The shutter includes a circular aperture that receives the tool, with a known and fixed relationship to the robotic arm's coordinate system. This intermediary provides a reference frame that enables precise tracking of the tool's position and orientation while still accommodating various tool geometries.

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The patent replaces traditional mechanical centering mechanisms with a shutter-based system that uses a circular aperture and friction engagement. Instead of complex mechanical linkages to maintain tool orientation, the system uses the shutter's fixed geometric relationship to the robotic arm combined with frictional holding surfaces to achieve both versatility and precision.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Adaptability or versatility

If the gripper is designed to hold tools with unknown or variable dimensions, then the gripper can be universally applicable, but the robotic system cannot accurately kinematically position the tool

Engineering Contradiction:

Improveuniversal tool compatibilityVSAvoidtool placement accuracy

Core Design Contradiction:

Adaptability or versatilityVSManufacturing precision

Solution Approach 1:

The concentric shutter acts as an intermediary reference frame that decouples the tool's physical dimensions from the robotic positioning system. The shutter's circular aperture with known geometry provides a fixed reference point, allowing the robotic system to accurately position the tool regardless of the tool's specific dimensions or shape.

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The shutter mechanism is designed with a circular aperture that can accommodate tools of any cross-sectional shape or size. The same shutter structure serves multiple functions: centering the tool, providing a reference frame for positioning, and enabling friction-based holding, making the system universally applicable while maintaining precision.

Inventive Principle:

Principle #6Universality (Multi-functionality)

3Device complexity

If the gripper uses fixed gripping surfaces, then the structure is simple, but it cannot accommodate tools of varying diameters with precise centering

Engineering Contradiction:

Improvegripper structure simplicityVSAvoidaccommodation of varying tool diameters

Core Design Contradiction:

Device complexityVSAdaptability or versatility

Solution Approach 1:

The shutter is designed to be rotatable about its longitudinal axis, transforming a static structure into a dynamic one. This rotation allows the circular aperture to accommodate tools of varying diameters while maintaining the same centering mechanism. The dynamic adjustment is achieved through a simple rotary motion controlled by a motor, keeping the overall structure relatively simple while greatly enhancing adaptability.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system changes the geometric parameter of the aperture diameter through rotation of the shutter. By rotating the shutter to different angular positions, the effective diameter of the circular aperture varies, allowing accommodation of tools with different diameters while maintaining precise centering through the fixed relationship between the shutter and robotic arm.

Inventive Principle:

Principle #35Parameter changes

Data Source

PatentUS20250049520A1Tool gripper with integrated concentric shutter and methods for its use

Publication Date: 2025.02.13 LEM SURGICAL AG

AI summary

A gripper for holding surgical tools is provided. The gripper incorporates a concentric and adjustable shutter mechanism that allows the gripper to hold tools of multiple different circumferences and tools that do not have perfectly circular circumferences. In the context of a centrally coordinated robotic system and, in particular, a surgical robotic system, the disclosed gripper allows the robotic system to deploy a large variety of surgical tools without regard to their circumference or precise circumferential dimensions. A robotic system using the disclosed gripper is able to deploy a wide variety of tools while always keeping the tools centered in the work area due to the concentric shutter design.