Surgical Robot Drive Assembly for Single-Trocar Arm Motion

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Solution Overview

Problem

Conventional surgical robotic systems are limited by cumbersome mechanical connections, inadequate degrees of freedom, and inefficient translation of movement, which restrict the precision and ease of surgical procedures, leading to potential injuries and increased training requirements for surgeons.

Innovation Solution

A drive assembly with a configuration of multiple drive units positioned about a common axis, featuring motorized drive elements and crown elements that allow for rotational motion and compliance, enabling the robotic arms and camera assembly to be inserted through a single trocar, reducing complexity and enhancing surgical efficiency.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Device complexity

If conventional mechanical connections are used between patient cart and robotic unit, then structural stability is maintained, but the mechanical connection becomes large and cumbersome

Engineering Contradiction:

Improvemechanical connection complexityVSAvoidmechanical connection stability

Core Design Contradiction:

Device complexityVSStrength

Solution Approach 1:

The mechanical connection system is divided into multiple drive units (first, second, and third drive units), each with independent drive elements and motors. This segmentation allows each unit to be smaller and less cumbersome while collectively providing the necessary structural stability and driving capability.

Inventive Principle:

Principle #1Segmentation

2Device complexity

If fewer drive elements are used, then device complexity is reduced, but the degree of movement of robot arms and camera assembly is limited

Engineering Contradiction:

Improvenumber of drive elementsVSAvoiddegree of movement

Core Design Contradiction:

Device complexityVSAdaptability or versatility

Solution Approach 1:

Different drive units are positioned at specific locations about the drive assembly common axis to provide localized driving functions. The first and second drive units provide symmetric driving capability, while the third drive unit provides additional movement control, collectively achieving comprehensive degrees of freedom without excessive complexity.

Inventive Principle:

Principle #3Local quality

3Reliability

If the sterile barrier is made more robust, then isolation between patient cart and surgical environment is improved, but mechanical connections between cart and disposable medical devices are insufficient

Engineering Contradiction:

Improvesterile barrier isolationVSAvoidmechanical connection adequacy

Core Design Contradiction:

ReliabilityVSEase of operation

Solution Approach 1:

The sterile barrier is designed with intermediary components that facilitate mechanical connections. The drive units and drive elements act as intermediaries that can penetrate or interface with the sterile barrier, allowing mechanical power transmission while maintaining the isolation between the non-sterile patient cart and the sterile surgical environment.

Inventive Principle:

Principle #24Intermediary (Mediator)

4Adaptability or versatility

If multiple incisions are used to address multiple locations, then access to different abdominal cavity locations is improved, but surgical procedure complexity increases

Engineering Contradiction:

Improveaccess to multiple locationsVSAvoidnumber of incisions

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The robotic system with multiple drive units provides multi-functionality, allowing a single incision to accommodate multiple robotic arms and camera assembly. The first, second, and third drive units can independently control different instruments, enabling the system to address multiple locations within the abdominal cavity through one incision, thereby reducing the number of incisions required.

Inventive Principle:

Principle #6Universality (Multi-functionality)

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

This configuration minimizes the risk of mechanical interference with the patient or operating table, allows for multiple degrees of freedom, and facilitates safe and rapid removal of robotic arms, while maintaining sterility and enabling efficient surgical procedures.

Implementation Method 1

Each of the plurality of first motors may be configured to rotate a corresponding one of the plurality of first drive elements about an axis perpendicular to the first drive unit face

Methodology Applied

Scientific EffectElectromagnetic conversion: Electromagnetic Induction

Data Source

PatentUS20230270321A1Drive assembly for surgical robotic system

Publication Date: 2023.08.31 NVIDIA CORP

AI summary

A drive assembly of a surgical robotic system is disclosed herein. In some embodiments, the drive assembly includes a first drive unit having a first drive unit face, a second drive unit having a second drive unit face, and a third drive unit having a third drive unit face. Each drive unit may include a plurality of motors configured to rotate a corresponding one of a plurality of drive elements about rotational axes perpendicular to the respective the respective drive unit face. the first drive unit, the second drive unit, and the third drive unit configured to be positioned about the drive assembly common axis with respect to a vertical plane passing through the drive assembly common axis such that an orientation and position of the first drive unit face mirrors those of second drive unit face, and the third drive unit face is bisected by the vertical plane.