Surgical Tool Linear Drive for Sterile Robotic Motion
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Solution Overview
Problem
Existing surgical tools in robotic systems face issues with contamination due to the robotic arm's proximity to the surgical site, leading to entanglement and restricted motion of the sterile protective sleeve, and require large transmission mechanisms, limiting application scenarios.
Innovation Solution
A surgical tool design featuring sliding blocks and driving wires for linear motion, coupled with a detachable connecting adapter that includes deformable membranes for sterilization and a transmission mechanism to convert rotary motion into linear motion, ensuring sterility and compact size.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a sterile protective sleeve is extended from the connecting adapter to isolate the robotic arm from the sterile surgical tool, then contamination is prevented, but the sleeve becomes entangled or drooped during frequent rotation, obstructing and restricting the motion of the surgical tool
Solution Approach 1:
The patent replaces the traditional rotary motor-driven mechanical transmission system with a linear motion driving system. The robotic arm uses a linear driving device that moves back and forth along the longitudinal axis, eliminating the need for frequent rotation of the connecting adapter and sterile protective sleeve, thereby preventing entanglement and motion restriction while maintaining sterility
Solution Approach 2:
The patent introduces a dynamic configuration where the connecting adapter can rotate freely without resistance during the linear motion of the robotic arm. This dynamic design allows the sterile protective sleeve to move freely with the arm body during linear displacement, preventing entanglement while maintaining the sterile barrier
2Adaptability or versatility
If a transmission mechanism is provided on the surgical tool to convert rotary motion into linear motion, then the surgical tool can be controlled, but the size of the surgical tool becomes large, which is not conducive to carrying and assembling
Solution Approach 1:
The patent extracts the transmission mechanism from the surgical tool and relocates it to the robotic arm's driving device. The surgical tool only needs to receive linear motion input, eliminating the need for onboard rotary-to-linear conversion mechanisms, thereby significantly reducing the surgical tool's size while maintaining full operational capability
Solution Approach 2:
The patent creates a universal driving device on the robotic arm that can drive different surgical tools through standardized connecting adapters. The driving device performs the transmission function for all surgical tools, eliminating the need for each tool to have its own transmission mechanism, thus reducing overall system size and improving interchangeability
3Productivity
If the robotic arm directly contacts the surgical tool to transmit torque and loads, then real-time transmission is achieved, but the non-sterile robotic arm contaminates the sterile surgical tool
Solution Approach 1:
The patent introduces a deformable membrane as an intermediary between the non-sterile robotic arm and the sterile surgical tool. The membrane transmits linear motion and forces while maintaining the sterile barrier, allowing real-time control without direct contact and contamination
Solution Approach 2:
The patent uses a deformable membrane (flexible thin film) to isolate the sterile and non-sterile environments. The membrane can deform to transmit motion and forces while maintaining sterility, solving the contradiction between real-time transmission and contamination prevention
Data Source
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AI summary
The present disclosure relates to the field of medical instruments. Disclosed are a surgical tool and a surgical robot system. The surgical tool comprises an arm body, an end instrument, at least one sliding block and at least one driving wire. The end instrument is arranged at a distal end of the arm body. The at least one sliding block comprises a connecting interface provided on the sliding block, and the connecting interface is configured to couple with an external device and receive driving from the external device. A first end of the at least one driving wire is fixedly connected to the sliding block, and the sliding block is configured to push and/or pull the driving wire under the received driving. A driving device is externally arranged and/or a transmission mechanism for transmitting driving is externally arranged, so that the miniaturization and light weight of the surgical tool are achieved.