Robotic Surgical Tool Latching Mechanism Prevents Decoupling
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Solution Overview
Problem
Robotic surgical tools are prone to inadvertent decoupling from robotic manipulators due to elevated tensile loads and other external or internal forces during surgical procedures, posing hazards to patients and operating room personnel.
Innovation Solution
A latching mechanism with radially movable retention tabs is employed as a secondary fastener to securely couple the robotic surgical tool to the mounting fixture, deploying automatically under biasing force to prevent decoupling and optionally engaging cables for tensioning and secure articulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional mating techniques (snap fit, press fit, slidable coupling) are used to couple the surgical tool to the robotic manipulator, then the device complexity is low and ease of operation is good, but the reliability is insufficient under elevated tensile loads causing inadvertent decoupling
Solution Approach 1:
The latching mechanism employs radially movable retention tabs that can dynamically transition between retracted and deployed states. During insertion, tabs are retracted to allow passage through the mounting fixture channel; after positioning, tabs deploy radially outward under biasing force to engage with the fixture exterior, providing automatic adaptation to loading conditions without requiring complex manual intervention
Solution Approach 2:
The coupling mechanism is divided into distinct functional segments: the mounting fixture with its channel, the surgical tool with its latching mechanism, and the retention tabs as separate engagement elements. This segmentation allows each component to perform its specific function independently - the channel guides insertion, the tabs provide latching, and the biasing members supply force - thereby achieving high reliability through modular functionality without excessive overall complexity
2Reliability
If a latching mechanism with radially movable retention tabs is added to prevent inadvertent decoupling, then the reliability is improved, but the device complexity increases
Solution Approach 1:
The latching mechanism is designed to be self-actuating through biasing members (springs) that automatically deploy the retention tabs after the surgical tool is inserted into the mounting fixture. The biasing force causes tabs to radially outward and engage with the fixture exterior without requiring additional actuators, sensors, or control systems, thereby achieving enhanced reliability through self-service functionality while minimizing added complexity
Solution Approach 2:
The retention tabs serve as intermediary elements between the surgical tool body and the mounting fixture exterior. These tabs mediate the coupling by providing a mechanical interface that translates the insertion motion into automatic latching engagement, simplifying the overall interaction while ensuring reliable connection under various loading conditions without requiring direct complex engagement between the tool and fixture
3Stability of the object's composition
If retention tabs are deployed to engage the mounting fixture exterior, then the stability is improved, but the ease of operation deteriorates due to requiring tool removal procedures
Solution Approach 1:
The retention tabs are designed with radial mobility, allowing them to dynamically switch between engaged and disengaged states. During normal operation, tabs are deployed radially outward to provide stable coupling; during removal, they can be retracted radially inward to allow passage through the mounting fixture channel. This dynamic behavior maintains stability during use while enabling controlled removal when needed
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 latching mechanism effectively prevents unwanted tool decoupling, ensuring secure attachment and accurate articulation of the end effector during surgical procedures, enhancing safety and precision.
Implementation Method 1
a retention tab that is movable between a retracted state, in which the retention tab is received within the elongate shaft, and a deployed state, in which the retention tab extends radially outside of the elongate shaft
Implementation Method 2
A latching mechanism with radially movable retention tabs is employed as a secondary fastener to securely couple the robotic surgical tool to the mounting fixture
Data Source
AI summary
A robotic surgical system includes a robotic manipulator that includes a mounting fixture defining a longitudinal channel, and a surgical tool removably coupleable to the mounting fixture. The surgical tool including a tool housing matable with the mounting fixture, an elongate shaft extending from the tool housing and receivable within the channel, and a latching mechanism provided on the elongate shaft and comprising one or more retention tabs biased radially outward with one or more biasing members. The one or more retention tabs are movable between a deployed state, where the one or more retention tabs protrude radially outward through a corresponding one or more slots to engage the mounting fixture, and a retracted state, where the one or more retention tabs are urged radially inward through the one or more slots to disengage the mounting fixture.