Surgical Instrument Changing Device Automation
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Solution Overview
Problem
Existing surgical robotic systems require manual and cumbersome processes to change instruments, limiting the ability to perform operations solely from the console and increasing the need for personnel to be present in the sterile environment.
Innovation Solution
A changing device that allows for easy and automatic exchange of shaft instruments within a surgical robot system, utilizing an instrument magazine, linear guide, drive unit, and transfer device to position and move instruments between passive, change, and active positions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If manual instrument changing is used in surgical robotic systems, then the system setup is simple, but the operation cannot be performed solely from the console and requires additional personnel in the sterile environment
Solution Approach 1:
The changing device is divided into functionally independent modules: an instrument magazine for storage, a linear guide for positioning, a drive unit for movement, and a transfer device for instrument exchange. This segmentation allows each module to perform its specific function independently, achieving automated instrument changing while keeping the overall system manageable and maintainable.
Solution Approach 2:
A carriage acts as an intermediary component between the instrument magazine and the robot arm. The carriage moves along the linear guide and transfers instruments between the magazine and the active position, enabling automated instrument exchange without direct manual intervention while maintaining a relatively simple device structure.
2Productivity
If manual instrument changing is used, then fewer components are needed, but instrument changing time and operational efficiency are reduced
Solution Approach 1:
Multiple instruments are pre-loaded into the instrument magazine before the surgical procedure begins. The magazine stores instruments in ready-to-use positions, and the drive unit can quickly retrieve and transfer the required instrument to the active position without requiring time-consuming manual setup during the operation, thereby reducing instrument changing time and improving productivity.
Solution Approach 2:
The linear guide and carriage enable continuous and smooth instrument transfer from the magazine to the active position. The drive unit provides continuous movement capability, allowing instruments to be exchanged without interruption to the surgical workflow, thereby minimizing instrument changing time and maintaining operational efficiency.
3Extent of automation
If complex hydraulic systems are used for instrument storage, then instrument changing is automated, but shaft instruments cannot be used and the system becomes overly complicated
Solution Approach 1:
The patent replaces complex hydraulic systems with a simplified mechanical drive unit that moves the carriage along a linear guide. This mechanical substitution eliminates the limitations of hydraulic systems, allowing the use of shaft instruments while maintaining automated instrument changing capability and reducing overall system complexity.
Solution Approach 2:
The changing device is designed with universal compatibility to accommodate different types of surgical instruments, including shaft instruments. The linear guide and carriage system can handle various instrument configurations, and the drive unit provides adaptable movement control, enabling the system to perform multiple functions with a single unified structure.
Data Source
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AI summary
The present invention provides a changing device (10) for surgical interchangeable instruments (1). A linear guide (12) extends from an instrument magazine (14) for the interchangeable instruments (1) in the passive position in order to transfer one interchangeable instrument (1) on a carriage (13) from a change position to an active position. The interchangeable instrument (1) has a handle (2) and a shaft (3) which is parallel to the linear guide (12) in the change position and the active position. The instrument magazine (14) has a rail guide (15, 16) with a guide profile that defines a circular path. The carriage (13) has at least one rail section (17, 18, 19), the profile of which corresponds to the guide profile of the rail guide (15, 16) and which, in the change position, supplements the rail guide (15, 16) of the instrument magazine (14) along the circular path.Each interchangeable instrument (1) has at least one engagement element (22, 23) on the handle (2) with an engagement profile that is complementary to the guide profile of the rail guide (15, 16) and the rail section (17, 18, 19), so that each interchangeable instrument (1) can be moved along the circular path of the instrument magazine (14) in the passive position and positioned on the carriage (13) in the exchange position. Furthermore, a surgical robot system and a method for exchanging surgical interchangeable instruments (1) are disclosed.