Surgical Instrument Interface Cable-Free Actuation
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Solution Overview
Problem
Existing surgical robotic systems are complex, costly, and bulky, limiting their affordability and accessibility in surgical departments. They also require significant space in the operating room and can hinder quick access to the patient, posing safety concerns.
Innovation Solution
The development of surgical instruments with a surgical instrument interface that allows for cable-free actuation of end-effectors, integrated with a robotic telemanipulator system or handheld surgical system, providing a more compact, affordable, and sterile surgical solution.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional robotic surgical systems are used, then surgical precision and remote actuation capability are improved, but device complexity and cost increase significantly
Solution Approach 1:
The surgical system is divided into modular components: a patient-side hub with instrument shafts, interchangeable end-effectors, and a separate control system. This segmentation allows for reduced complexity in each component while maintaining overall precision through standardized interfaces and modular assembly.
Solution Approach 2:
The hub interface is designed to accept multiple types of end-effectors through a universal coupling mechanism. This multi-functionality reduces the need for separate specialized systems, thereby reducing overall device complexity while maintaining surgical precision across different procedures.
2Adaptability or versatility
If bulky robotic systems are deployed, then surgical capability is enhanced, but operating room space is reduced and access to patient is impaired
Solution Approach 1:
By separating the robotic control system from the patient-side instruments, the bulky components are positioned away from the surgical field. The patient-side hub remains compact and accessible, while the control system can be positioned in an adjacent location, thus preserving operating room space and access to the patient.
Solution Approach 2:
The hub acts as an intermediary between the control system and the surgical instruments. This intermediary component enables surgical capability enhancement without requiring the control system to be physically present at the surgical site, thereby maintaining operating room accessibility.
3Ease of operation
If cable-driven actuation is used, then end-effector control is achieved, but sterile barrier is compromised and setup time is increased
Solution Approach 1:
The cable-driven mechanical actuation system is replaced with a direct-drive mechanism where motors are integrated into the hub interface. This substitution eliminates cables that would compromise the sterile barrier, while maintaining precise end-effector control through electronic actuation.
Solution Approach 2:
The cables and their associated routing infrastructure are extracted from the surgical field entirely. The actuation mechanism is relocated to the hub interface, which remains outside the sterile field, thereby maintaining sterile barrier integrity while preserving end-effector control capability.
4Adaptability or versatility
If multiple robotic arms are integrated, then surgical functionality is improved, but preparation time and setup complexity increase
Solution Approach 1:
Each robotic arm or instrument is implemented as a separate, pre-assembled module that can be independently prepared and quickly attached to the hub interface. This segmentation allows for simplified setup procedures and reduced preparation time compared to integrating multiple functions into a single complex system.
Solution Approach 2:
The hub interface and end-effector components are pre-configured and pre-assembled before the surgical procedure. This preliminary preparation eliminates the need for complex in-situ assembly during surgery, thereby reducing setup time and allowing for quicker surgical functionality activation.
Data Source
AI summary
Systems and methods for actuating an end-effector of a surgical instrument are provided. The surgical instrument includes a surgical instrument interface operatively coupled to an instrument shaft having an end-effector. The surgical instrument interface includes a pair of actuators slidably disposed within longitudinal openings of a housing of the surgical instrument interface and engaged with a grooved opening of a barrel rotatably disposed within the housing, such that translational movement of the actuators within the longitudinal openings is converted to rotational movement of the barrel along the grooved opening. The surgical instrument interface further may include a torsion spring pre-loaded with a predetermined torque such that rotation of the barrel causes rotation of the instrument shaft if the torque generated between the barrel and the instrument shaft is less than the predetermined torque of the spring. Rotation of the instrument shaft actuates the end-effector via a cam mechanism.