Surgical Tool Insert Locking Mechanism for Robotic Trajectory Guidance
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Solution Overview
Problem
Current surgical robot systems face limitations in precision and versatility due to restricted use of end-effectors in certain procedures, and existing position recognition systems for robot-assisted surgeries require improved neuronavigation registration and robotic trajectory guidance for accurate surgical tool positioning.
Innovation Solution
A surgical robot system with a tool-insert locking mechanism and sensor system that secures surgical tools at predetermined heights, angles, and rotational positions, featuring a movable stop mechanism and Hall Effect sensor for precise tool attachment and movement control, combined with a processor-driven neuronavigation system for accurate anatomical feature registration and robotic trajectory alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a tool stop mechanism is added to prevent unauthorized tool attachment, then safety and control are improved, but device complexity increases
Solution Approach 1:
The system employs sensors (e.g., Hall effect sensors, capacitive sensors) to detect the position of the stop mechanism and the presence of tools, providing real-time feedback to the processor. This feedback loop enables automated control decisions, improving safety while managing complexity through intelligent automation rather than purely mechanical solutions.
Solution Approach 2:
The patent replaces purely mechanical stop mechanisms with a hybrid system that uses sensors and processors to detect and respond to tool attachment attempts. This substitution reduces the complexity of mechanical interlocks while maintaining or enhancing safety through electronic detection and control.
2Measurement precision
If a sensor system is implemented to detect stop mechanism position, then precision and control are improved, but device complexity and cost increase
Solution Approach 1:
The patent employs non-contact sensing methods such as Hall effect sensors and capacitive sensors to detect the position of the stop mechanism and presence of tools. These electronic sensing systems replace or supplement mechanical position indicators, achieving high measurement precision while reducing mechanical complexity.
Solution Approach 2:
The sensor system is integrated into the existing end effector structure, where components such as the stop mechanism itself may incorporate or trigger the sensors. This integration allows the system to self-monitor its state without requiring separate, complex sensing assemblies.
3Adaptability or versatility
If the end effector is designed to accept multiple surgical tools, then versatility is improved, but device complexity increases
Solution Approach 1:
The end effector is designed with a universal interface that can accommodate multiple types of surgical tools through a standardized attachment mechanism. The tool stop and locking mechanism are configured to work with various tool geometries, enabling one end effector to perform multiple functions and accept different tools without requiring complex specialized designs for each tool type.
Solution Approach 2:
The attachment interface is segmented into modular components including the tool stop, locking mechanism, and sensor array, each performing a specific function. This modular segmentation allows for easier manufacturing, assembly, and maintenance while achieving versatile tool compatibility through standardized interfaces.
4Manufacturing precision
If the locking mechanism secures tools at predetermined positions, then manufacturing precision is improved, but device complexity increases
Solution Approach 1:
The locking mechanism is designed with predetermined positioning features such as detents, cam surfaces, or indexed positions that automatically establish accurate tool positioning upon attachment. This preliminary action of pre-configuring the locking positions eliminates the need for complex adjustment mechanisms while ensuring precise, repeatable tool positioning.
Solution Approach 2:
The system uses sensors to detect and verify tool positioning accuracy, replacing or supplementing purely mechanical positioning features. This allows for high precision through electronic verification while simplifying the mechanical locking mechanism itself.
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 enables precise and versatile surgical tool positioning and movement, enhancing surgical precision and adaptability across various procedures by ensuring accurate registration and trajectory guidance, thereby improving surgical outcomes.
Implementation Method 1
The stop mechanism is selectively moveable between two positions - an engaged position to prevent surgical tools from being connected to the end-effector and a disengaged position in which surgical tools are selectively connected to such end-effector. The sensor is able to detect whether the stop mechanism is in the engaged position or the disengaged position.
Data Source
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AI summary
A system for robotic surgery makes use of an end-effector which has been configured so that any selected one of a group of surgical tools may be selectively connected to such end-effector. The end-effector makes use of a tool-insert locking mechanism which secures a selected one of the surgical tools at not only a respective, predetermined height and angle of orientation, but also at a rotational position relative to an anatomical feature of the patient. The tool-insert locking mechanism may include interchangeable inserts to interconnect multiple tools to the same end-effector. In this way, different robotic operations may be accomplished with less reconfiguration of the end-effector. The end-effector may also include a tool stop which has a sensor associated with a moveable stop mechanism which may be positioned to selectively inhibit tool insertion or end-effector movement.