Surgical Tool Axial Connector Tactile Feedback Mechanism
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Solution Overview
Problem
Current surgical robotic manipulators lack feedback mechanisms to confirm whether an energy applicator is suitably engaged by the axial connector assembly, leading to potential misalignment or improper retention during surgical procedures.
Innovation Solution
The design incorporates a tool assembly with a biasing device that applies a retention force in the locked state and an ejection force in the unlocked state, utilizing recesses on the energy applicator to ensure proper engagement and contact with a reference surface, providing tactile feedback to the user.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the energy applicator is sized and configured to be retained by frictional forces alone, then the device structure is simplified, but the reliability of engagement is compromised as users may receive false impressions of proper engagement
Solution Approach 1:
The patent implements a tactile feedback mechanism through the biasing device that provides a distinct sensation to the user when the energy applicator is properly engaged. The biasing device applies an ejection force that must be overcome during insertion, creating a noticeable tactile cue that confirms successful engagement with the axial connector assembly, thereby resolving the false impression problem while maintaining structural simplicity
Solution Approach 2:
The biasing device is pre-configured to apply retention force and ejection force before the user completes the engagement action. The ejection force is applied in advance during the insertion process, creating a tactile barrier that must be overcome to achieve proper engagement, thereby providing preliminary confirmation of correct positioning before final locking occurs
2Device complexity
If no feedback mechanism is provided, then the device complexity is reduced, but the manufacturing precision and engagement accuracy deteriorate due to lack of user confirmation
Solution Approach 1:
The tactile feedback from the biasing device serves as a real-time confirmation mechanism during the engagement process, allowing users to adjust their insertion actions to achieve precise alignment. The distinct tactile sensation indicates when the energy applicator has reached the correct position relative to the axial connector assembly and reference surface, thereby improving engagement accuracy without adding complex electronic or mechanical feedback systems
3Ease of operation
If the axial connector assembly relies solely on frictional retention, then the ease of operation is improved for insertion, but the reliability of retention deteriorates as users cannot distinguish proper engagement from partial engagement
Solution Approach 1:
The biasing device provides a distinct tactile feedback signal during insertion that clearly indicates when proper engagement has been achieved. The ejection force creates a noticeable resistance or 'click' sensation that confirms the energy applicator has been fully inserted and securely retained by the axial connector assembly, eliminating ambiguity between proper and partial engagement while maintaining ease of insertion
Solution Approach 2:
The biasing device is configured to apply retention force and ejection force during the insertion process itself, creating a tactile milestone that the user experiences in real-time. This preliminary application of forces provides immediate confirmation of proper engagement during the operation, allowing users to know when to stop inserting without requiring additional verification 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 ensures reliable and consistent engagement of the energy applicator, enhancing procedural safety and accuracy by providing clear tactile cues for the user, thereby preventing misalignment and ensuring secure retention during surgical operations.
Implementation Method 1
a biasing device operatively engaging the axial connector assembly and cooperating with the axial connector assembly to apply a retention force on the energy applicator in the locked state
Implementation Method 2
to apply an ejection force on the energy applicator in the unlocked state... such that the energy applicator is placed in the locked state in contact with the reference surface
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 a retention surface and an ejection surface. A tool assembly comprises a support structure to support the energy applicator and an axial connector assembly arranged to engage and releasably lock the energy applicator to the support structure in a locked state via the retention surface. The tool assembly is also configured to apply an ejection force to the energy applicator to provide a tactile indication to the user that the energy applicator is not fully engaged by the axial connector assembly if a suitable force is not provided by the user to overcome the ejection force and place the energy applicator in the locked state.