Surgical Instrument Actuation via Spline Shaft and Collar
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Solution Overview
Problem
Current minimally invasive telesurgical systems face challenges in providing precise and dexterous control of surgical instruments, particularly in transmitting torque and motion effectively through small apertures, which can lead to reduced dexterity and increased trauma during surgical procedures.
Innovation Solution
The development of a surgical instrument actuation mechanism utilizing a spline shaft and collar system, which includes a bevel gear and leadscrew mechanism, allows for efficient transmission of torque and motion, enabling precise control of surgical instruments with a combination of rotational and translational movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a traditional robot arm structure is used to manipulate surgical instruments through small apertures, then the system can provide basic movement control, but the dexterity and precision of instrument control are reduced
Solution Approach 1:
The robot arm is divided into multiple independently controllable links connected by actively controlled joints, allowing each segment to be precisely positioned and controlled separately to achieve complex instrument movements through small apertures
Solution Approach 2:
The system employs actively controlled joints that can dynamically adjust the configuration of the robot arm, enabling real-time optimization of instrument dexterity and precision based on surgical requirements while maintaining control through small apertures
2Ease of operation
If the robot arm configuration is simplified for easier operation, then the ease of operation improves, but the ability to perform intricate surgical tasks is reduced
Solution Approach 1:
The robot arm system is designed with multi-functional capabilities, where the same actively controlled joint configuration can perform multiple surgical tasks including pivoting, sliding, and rotating instruments, providing both ease of operation and versatility for intricate procedures
Solution Approach 2:
The system allows dynamic adjustment of joint positions and arm configuration parameters to optimize performance for different surgical tasks, maintaining ease of operation while adapting to various intricate surgical requirements
Data Source
AI summary
Systems and methods for computer-assisted systems using robotic technology are described. For example, this disclosure describes systems and methods that can be used in various contexts such as, but not limited to, minimally invasive computer-assisted tele-operated surgery using robotic technology. The disclosure describes instruments and mechanisms for actuating and controlling the motions of such instruments. The instruments and actuator mechanisms may be used in medical operations and non-medical operations.