Surgical Instrument Interface With Oblique Shafts for Fast Alignment
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Solution Overview
Problem
The alignment and connection of surgical instruments with instrument drive units in robotic surgical systems are often difficult and time-consuming due to unknown positions and orientations of connecting features, requiring trial and error calibration.
Innovation Solution
The interface includes an instrument drive unit with a connection hub and drive shafts featuring oblique end surfaces that engage with corresponding surfaces on the surgical instrument, allowing for precise connection via multiple pathways, including transverse orientations, to facilitate secure and efficient attachment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional trial and error calibration is used to align connecting features, then the surgical instrument can be connected to the instrument drive unit, but the process becomes time-consuming and difficult
Solution Approach 1:
The oblique end surfaces are pre-configured on the drive shaft and driven shaft at specific angles and orientations before connection. This preliminary geometric configuration enables the shafts to self-align during insertion, eliminating the need for time-consuming trial and error calibration procedures while ensuring reliable connection.
2Measurement precision
If connecting features are designed for precise alignment, then connection accuracy improves, but the complexity of the interface increases
Solution Approach 1:
The drive shaft and driven shaft feature asymmetric oblique end surfaces with specific angular orientations rather than symmetric cylindrical interfaces. This asymmetric geometry provides inherent alignment cues that guide precise connection while maintaining relatively simple shaft structures, avoiding the need for complex alignment mechanisms or multiple adjustment features.
3Ease of operation
If multiple connection pathways are provided, then ease of operation improves, but device complexity increases
Solution Approach 1:
The interface provides multiple connection pathways by allowing insertion from different angular orientations (e.g., 0 degrees or 180 degrees) rather than requiring precise alignment along a single axis. The oblique end surfaces are geometrically configured to accept insertion from multiple directions, enabling operators to connect the shafts more easily without adding complex adjustment mechanisms or multiple separate connection interfaces.
Data Source
AI summary
An interface for a surgical system includes an instrument drive unit and a surgical instrument. The instrument drive unit includes a connection hub and at least one drive shaft rotatably supported in the connection hub. The at least one drive shaft extends between a first end and a second end having an oblique end surface. The surgical instrument is releasably connectable to the instrument drive unit and includes a connecting member and at least one driven shaft rotatably supported in the connecting member. The at least one driven shaft extends between a first end and a second end. The second end has an oblique end surface corresponding to the oblique end surface of the at least one drive shaft. The oblique end surfaces are configured such that the connecting member is connectible with the connection hub via a first connection pathway and a second connection pathway.