Robotic Surgical Tool Coupling With Axial Locking and Counterweighted Drive
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Solution Overview
Problem
Current surgical robotic manipulators lack efficient and reliable systems for attaching and driving energy applicators, which limits their effectiveness in surgical procedures such as tissue removal and implantation.
Innovation Solution
A surgical tool system featuring a counterweighted clutch assembly and axial connector assembly that securely engages and drives the energy applicator, allowing for reliable attachment and operation of energy applicators like drills and saw blades, enabling precise tissue manipulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a surgical robotic manipulator uses a traditional attachment system for energy applicators, then the structure is simpler, but the reliability and precision of attachment is insufficient
Solution Approach 1:
The attachment system is divided into separate functional modules: a connector assembly with locking mechanisms, a drive system with clutch assembly, and a counterweight mechanism. This segmentation allows each component to be optimized independently for its specific function while maintaining overall system reliability without excessive complexity.
Solution Approach 2:
A counterweight mechanism is integrated into the drive system to balance the rotational inertia of the energy applicator shaft. This counterweight improves attachment reliability by ensuring stable engagement during high-speed rotation and precision operations, while the counterbalanced design minimizes the additional complexity burden.
2Reliability
If the surgical tool system uses a secure engagement mechanism for energy applicators, then the operational reliability improves, but the device complexity increases
Solution Approach 1:
The connector assembly incorporates preliminary alignment features and pre-engagement positioning mechanisms that guide the energy applicator into proper alignment before final locking. This preliminary action ensures reliable engagement while reducing the complexity of the locking mechanism itself, as the alignment is achieved through guided insertion rather than complex adjustment mechanisms.
Solution Approach 2:
The clutch assembly and locking mechanism are designed to automatically engage and lock when the energy applicator is inserted into the correct position. This self-servicing engagement reduces operational complexity by eliminating the need for manual adjustment or complex control sequences, while maintaining high reliability through automatic positive engagement.
3Manufacturing precision
If the drive system uses a counterweighted clutch assembly to rotatably drive the shaft, then the surgical precision is enhanced, but the device complexity increases
Solution Approach 1:
The counterweighted clutch assembly uses a counterbalance mechanism to neutralize the rotational inertia and gravitational effects on the energy applicator shaft. This provides smooth, vibration-free rotation essential for surgical precision in tissue removal and implantation procedures. The counterweight design is integrated into the existing clutch structure, minimizing additional complexity while maximizing precision benefits.
Solution Approach 2:
The drive system replaces traditional high-inertia mechanical driving mechanisms with a counterweighted clutch assembly that uses controlled friction engagement and balanced rotational forces. This substitution reduces mechanical vibrations and improves rotational accuracy, enhancing surgical precision while keeping the overall drive system complexity manageable through simplified engagement mechanisms.
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 system provides a secure and efficient means to attach and operate energy applicators, enhancing the precision and reliability of surgical robotic manipulators in procedures like tissue removal and implantation, reducing downtime and improving surgical precision.
Implementation Method 1
the drive system comprises a counterweighted clutch assembly
Data Source
AI summary
A tool for use with a surgical robotic manipulator that comprises an energy applicator including a shaft extending along an axis between a proximal end and a distal end. The shaft has an axial-force receiving surface. A tool assembly comprises a support structure to support the energy applicator, an axial connector assembly arranged to engage and releasably lock the energy applicator to the support structure in a locked state, a drive system coupled to the support structure to rotatably drive the shaft of the energy applicator about the axis, a collet assembly cooperating with the axial connector assembly and configured to apply a force to the axial-force receiving surface of the energy applicator in the locked state, and a reference surface. The force includes an axial component directing the energy applicator proximally into continuous contact with the reference surface in the locked state.