Surgical Table Coupler With Self-Aligning Robotic Arm Locking
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Solution Overview
Problem
Conventional robotic arm coupling mechanisms to surgical tables are cumbersome, require specialized training for connection and disconnection, and often result in misalignment, making them difficult to remove and reattach, which complicates maintenance and increases costs due to the need for precise alignment and adherence to regulatory standards like IPX4.
Innovation Solution
The development of a secure coupling mechanism that includes a first and second portion of a coupler, with kinematic mounts and a motorized locking mechanism, allowing for quick release and precise alignment of robotic arms to surgical tables, ensuring stability and alignment in six degrees of freedom, even under external loads.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional robotic arm coupling mechanisms are used, then the robotic arm can be securely attached to the surgical table, but the coupling and decoupling process requires specialized training and is time-consuming
Solution Approach 1:
The coupling mechanism is designed to be self-aligning through complementary geometric features (post and ball bearing holder with conical surfaces) that automatically register components in the correct position during insertion, eliminating the need for trained technicians to perform complex alignment procedures
Solution Approach 2:
The manual multi-step coupling process is replaced with a simplified mechanism where the robotic arm's post is inserted into the table's ball bearing holder and secured by rotating a handle that actuates a locking mechanism, reducing the operation to a few simple steps
2Reliability
If conventional robotic arm coupling mechanisms are used, then the robotic arm can be attached to the surgical table, but misalignment occurs during removal and reattachment
Solution Approach 1:
The coupling interface uses asymmetric geometric features including a conical post and a matching conical recess with specific angle tolerances, ensuring that the components can only be assembled in the correct orientation and preventing misalignment during reattachment
Solution Approach 2:
The ball bearing holder and conical surfaces are pre-configured with precise geometric relationships that automatically establish correct alignment when the post is inserted, eliminating the need for post-assembly alignment adjustments
3Reliability
If robotic arms are fixed to the surgical table to prevent damage, then safety is improved, but maintenance and servicing become difficult and expensive
Solution Approach 1:
The coupling mechanism transitions from a fixed permanent attachment to a dynamic releasable connection that can be quickly engaged and disengaged through handle rotation, allowing the robotic arm to be securely attached during operation but easily removed for maintenance when needed
4Reliability
If conventional coupling mechanisms are used, then the robotic arm can be attached to the surgical table, but the system does not provide confirmation of precise positioning
Solution Approach 1:
The coupling mechanism provides tactile and visual feedback during assembly: the post must be inserted fully into the ball bearing holder, the conical surfaces must mate perfectly, and the handle must be rotated to a specific position to engage the locking mechanism, confirming precise positioning through the sequence of engagement steps
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 solution enables secure, quick, and precise coupling of robotic arms to surgical tables, reducing the risk of misalignment and damage during maintenance, while ensuring compliance with regulatory standards, thus enhancing operational efficiency and safety.
Implementation Method 1
a motorized locking mechanism of a coupler may generate high forces to ensure the coupling is constrained and maintained in six degrees of freedom
Implementation Method 2
a user may rotate a handle to secure the coupling between the first and second portion
Implementation Method 3
a first portion having a cone with a conical taper and a second portion having corresponding conical hole that may constrain translational and rotational movement of the first and second portions along multiple axes
Implementation Method 4
After inserting the first portion having a post into a ball bearing holder of the second portion
Data Source
AI summary
An apparatus can include a coupler for coupling a robotic arm to a surgical table having a table top on which a patient can be disposed. The coupler can include a first portion configured to couple to a surgical table and a second portion configured to couple to a robotic arm. The second portion may include a post that may translate into the first portion. The first portion may comprise a locking mechanism having one or more stages to constrain movement of the second portion relative to the first portion in six degrees of freedom. The coupler can thus provide secure coupling of the robotic arm to the surgical table.