Robotic Surgical Tool Lead Screw Translation Mechanism
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Solution Overview
Problem
Current robotic surgical tools face challenges in efficiently translating instruments along the z-axis within minimally invasive surgical procedures, limiting precision and ease of use during procedures like laparoscopy and endoscopy.
Innovation Solution
A robotic surgical tool design featuring a drive housing with a lead screw and carriage nut system, where the lead screw extends between the ends of the drive housing, allowing axial movement of the end effector, and an instrument driver is mated with the drive housing to rotate the lead screw, enabling precise z-axis translation of the end effector.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robotic surgical tool uses a lead screw and carriage nut system for z-axis translation, then the precision and control of end effector movement is improved, but the device complexity increases
Solution Approach 1:
The drive mechanism is segmented into distinct functional components: lead screw, carriage nut, carriage, and end effector mounting. This segmentation allows each component to be optimized independently for precision while maintaining modular assembly, resolving the contradiction between precision and complexity by organizing complexity into manageable segments.
Solution Approach 2:
The carriage acts as an intermediary component between the carriage nut and the end effector. It receives axial motion from the carriage nut and provides a stable mounting platform for the end effector, thereby enhancing precision without requiring direct integration of the lead screw with the end effector, which would increase complexity.
2Ease of operation
If the shaft extends through the instrument driver to allow z-axis translation, then the ease of operation is improved, but the structural integrity may be compromised
Solution Approach 1:
The shaft extends through the instrument driver along the z-axis (longitudinal dimension), while the instrument driver maintains structural integrity in radial dimensions through its housing design. This dimensional separation allows free translation along the shaft axis while preserving structural strength in perpendicular directions.
Solution Approach 2:
The shaft is extracted as a separate component that passes through the instrument driver housing rather than being integrated into it. This extraction allows the shaft to move freely for z-axis translation while the instrument driver housing remains as a stable, intact structure providing support and guidance.
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 enhances the precision and ease of use in minimally invasive surgeries by allowing for controlled and precise movement of surgical instruments, improving the ability to perform procedures with reduced operator fatigue and improved access to complex anatomical areas.
Implementation Method 1
a lead screw extending between the first and second ends... rotation of the lead screw moves the carriage and the carriage nut axially between the first and second ends
Implementation Method 2
a lubricious coating is applied to the outer helical threading to reduce friction against the internal helical threading of the carriage nut
Data Source
AI summary
A robotic surgical tool includes a drive housing having a first end, a second end, and a lead screw extending between the first and second ends, a carriage movably mounted to the lead screw at a carriage nut secured to the carriage, and an elongate shaft extending from the carriage and extending through the first end, the shaft having an end effector arranged at a distal end thereof. Rotation of the lead screw moves the carriage and the carriage nut axially between the first and second ends and thereby moves the end effector distally or proximally.