Surgical Tool Holder Roll Mechanism for Robotic Manipulators

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Solution Overview

Problem

Current surgical robotic systems face challenges in efficiently rotating elongate surgical tools without compromising their actuation and articulation capabilities, leading to increased friction and operational discomfort for operators due to mechanically-limited pull-wire management and the need for separate modules for articulation and roll.

Innovation Solution

The development of an instrument device manipulator (IDM) that securely attaches to a surgical robotic arm, allowing continuous rotation of surgical tools via a base and surgical tool holder assembly with torque couplers and slip rings for power and signal transmission, enabling independent rotation of surgical tools without hindering their functionality.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If pull wires are twisted around each other to achieve roll in the device shaft, then roll capability is achieved, but friction increases and pull-wire management becomes mechanically limited

Engineering Contradiction:

Improveroll capabilityVSAvoidfriction

Core Design Contradiction:

Adaptability or versatilityVSObject-generated harmful factors

Solution Approach 1:

The device is divided into separate functional modules: an outer sheath for pitch and yaw articulation, and an inner flexible laparoscopic tool for insertion roll and end-effector actuation. This segmentation allows each component to perform its specific function without interfering with others, reducing overall friction and improving roll capability

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

A robotic outer sheath acts as an intermediary structure that enables pitch and yaw articulation while allowing the inner flexible tool to independently control insertion roll. This intermediary structure prevents direct mechanical interference between roll and articulation mechanisms

Inventive Principle:

Principle #24Intermediary (Mediator)

2Adaptability or versatility

If a robotic outer sheath is used to de-couple articulation and roll, then roll capability is improved, but device complexity increases with two separate modules

Engineering Contradiction:

Improveroll capabilityVSAvoidsystem structure

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent combines articulation and roll controls into a single integrated manipulator at the end of the robotic arm. The manipulator includes a rotatable surgical tool holder that can rotate the surgical tool while maintaining articulation capabilities, merging previously separate functions into one unified structure

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The surgical tool holder assembly serves multiple functions: it secures the surgical tool, enables rotation about the longitudinal axis, and maintains articulation capabilities. This multi-functional design eliminates the need for separate modules while preserving all required capabilities

Inventive Principle:

Principle #6Universality (Multi-functionality)

3Adaptability or versatility

If two separate modules are used for articulation and roll, then roll capability is achieved, but pre-operative workflow is complicated by needing to register two sets of devices

Engineering Contradiction:

Improveroll capabilityVSAvoidpre-operative workflow

Core Design Contradiction:

Adaptability or versatilityVSEase of operation

Solution Approach 1:

The patent integrates articulation and roll controls into a single manipulator, reducing the number of devices that need to be registered during pre-operative workflow. The unified structure simplifies setup and operation while maintaining all necessary capabilities

Inventive Principle:

Principle #5Merging (Combining)

4Adaptability or versatility

If manual knobs and dials are used to actuate the distal tip, then articulation is achieved, but operator comfort is reduced due to contortions required during shaft rotation

Engineering Contradiction:

Improvearticulation capabilityVSAvoidoperator comfort

Core Design Contradiction:

Adaptability or versatilityVSEase of operation

Solution Approach 1:

The patent replaces manual mechanical controls (knobs and dials) with a robotic manipulator that can be controlled from a comfortable position. The robotic system translates operator inputs into precise manipulator movements, eliminating the need for physical contortions while maintaining full articulation capability

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentUS20240090969A1Instrument device manipulator with roll mechanism

Publication Date: 2024.03.21 AURIS HEALTH INC

AI summary

An instrument device manipulator (IDM) is attached to a surgical arm of a robotic system and comprises a surgical tool holder and an outer housing. The surgical tool holder includes an attachment interface that can secure a surgical tool in a front-mount configuration (where the attachment interface is on a face opposite of a proximal extension of the surgical tool) or a back-mount configuration (where the attachment interface is on the same face as the proximal extension of the surgical tool). The surgical tool holder may rotate continuously within the outer housing. In a back-mount configuration, the surgical tool holder may have a passage that receives the proximal extension of the tool and allows free rotation of the proximal extension about the rotational axis. A surgical drape separates the IDM and robotic arm from a tool, while allowing electrical and/or optical signals to pass therebetween.