Surgical Robot Connection Structure for Gap-Free Stable Engagement
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Solution Overview
Problem
The existing connections between surgical instrument drives and sterile adapters in surgical robots are prone to gaps, uneven force, unstable engagement, vibration, and tipping due to the elasticity of engaging members, affecting the stability and reliability of the system.
Innovation Solution
A structure for connecting an instrument drive to a sterile adapter and a surgical instrument using moveable engaging members that engage through horizontal movement, with resilient components providing forces to ensure tight and stable engagement, preventing gaps and tipping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If engaging members are connected by relative rotation due to elasticity, then the engaging members can be easily assembled and disassembled, but gaps between joint surfaces result in uneven force, unstable engagement, vibration, and tipping
Solution Approach 1:
The engaging members are designed to move dynamically during assembly and disassembly operations. The moveable engaging members can shift position to engage with or detach from the fixed engaging members, enabling easy operation while maintaining stable engagement through controlled movement rather than elastic deformation
Solution Approach 2:
The connection structure is divided into fixed engaging members and moveable engaging members as separate functional segments. This segmentation allows the fixed members to provide stable anchor points while the moveable members handle the dynamic engagement and disengagement actions, preventing gaps and uneven force distribution
2Device complexity
If engaging members rely on elasticity for engagement, then the structure can be simple and compact, but the engagement becomes unstable and prone to vibration
Solution Approach 1:
Rather than relying on elastic deformation for engagement, the design uses controlled dynamic movement of the moveable engaging members along defined paths. This dynamic approach maintains structural simplicity while achieving stable engagement through precise positional control rather than material elasticity
Solution Approach 2:
The moveable engaging members act as intermediaries between the fixed engaging members and the connected components. They transfer and distribute forces evenly through their movement, preventing the gaps and uneven force that would occur with direct elastic engagement, thereby reducing vibration and improving stability
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution enhances the tightness and stability of the engagement between the instrument drive and sterile adapter, improving the overall reliability and stability of the surgical robot system.
Implementation Method 1
one or more resilient components, each moveable component is moveable relative to the adapter body to move the one set of moveable engaging members between the engagement position and the detachment position
Data Source
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AI summary
The present disclosure discloses a structure for connecting an instrument drive to a sterile adapter, a structure for connecting a sterile adapter to a surgical instrument, and a surgical robot. The instrument drive has a surface on which a plurality of drive fixed engaging members are provided, and the sterile adapter is connected to the instrument drive. The sterile adapter includes an adapter body and an adapter connecting assembly provided at the adapter body and configured to fix the adapter body to instrument drive. The plurality of drive fixed engaging members at least partially extend into the adapter body. The adapter connecting assembly includes a plurality of moveable engaging members cooperating with the plurality of drive fixed engaging members, each moveable engaging member is moveable between an engagement position where the moveable engaging member is engaged with a respective one of the plurality of drive fixed engaging members and a detachment position where the moveable engaging member is detached from the respective drive fixed engaging member, and each of the plurality of moveable engaging members has a movement path parallel to a surface of the instrument drive.