Telescoping Cannula Arm Retraction for Sterile Draping
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Solution Overview
Problem
Existing surgical systems face challenges in efficiently draping the manipulator and instrument manipulators with sterile surgical drapes, particularly due to the obstruction caused by telescoping cannula mounts, which complicate the draping process and increase the risk of contamination.
Innovation Solution
A telescoping cannula mount assembly with a mechanical arm retraction system that automatically parks and extends the cannula mount arm, using a mechanical system without electrical components to ensure smooth and controlled retraction, allowing for easier draping and preventing accidental retraction during surgery.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a telescoping cannula mount assembly is used to enable automatic extension and retraction of the cannula mount arm, then the draping efficiency is improved and contamination risk is reduced, but the device complexity increases due to the mechanical retraction system
Solution Approach 1:
The cannula mount arm automatically retracts into the manipulator arm using a mechanical retraction system that utilizes spring force and cam mechanism, eliminating the need for manual intervention or external power sources during the retraction process
Solution Approach 2:
The mechanical retraction system is pre-configured with spring-loaded cams that automatically engage when the cannula mount arm is extended, preparing the system to automatically retract the arm without requiring real-time control inputs during surgery
2Adaptability or versatility
If the cannula mount arm is extended to allow instrument insertion, then the surgical functionality is improved, but the risk of accidental retraction during surgery increases
Solution Approach 1:
A latch mechanism provides position feedback to the control circuit, which monitors whether the cannula mount arm is in the extended or retracted position and prevents unintended retraction by blocking the retraction command when the arm is extended
Solution Approach 2:
The latch mechanism acts as an intermediary between the mechanical extension system and the control system, mediating the position state and preventing direct control signals from causing accidental retraction
3Ease of operation
If the cannula mount arm is manually extended without automatic retraction, then the ease of operation is improved, but the time required for draping increases
Solution Approach 1:
The mechanical retraction system is pre-loaded with spring force that automatically activates when the cannula mount arm is extended, preparing the system to automatically retract the arm without requiring real-time control inputs during surgery
Solution Approach 2:
The system performs the retraction function automatically using stored spring energy and cam mechanism, eliminating the need for manual intervention or external power sources during the retraction process
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 mechanical arm retraction system facilitates easier and more efficient draping of the manipulator arm assembly with a sterile drape, reducing the risk of contamination and ensuring reliable operation without electrical failures during surgical procedures.
Implementation Method 1
The mechanical arm retraction system includes a spring, a segment gear, a pinion gear, and a damper. The spring is coupled to the curved end of the link and is coupled to the curved cannula mount arm.
Implementation Method 2
The mechanical arm retraction system includes a spring, a segment gear, a pinion gear, and a damper. The damper is coupled to the curved end of the link and is coupled to the curved cannula mount arm.
Implementation Method 3
The mechanical arm retraction system includes a spring, a segment gear, a pinion gear, and a damper. The segment gear includes a first end and a second end. The first end of the segment gear is connected to the curved end of the link, and the second end of the segment gear is coupled to the spring. The pinion gear is coupled to the curved cannula mount arm.
Data Source
Figure 1
Figure 2A~2B
Figure 3
AI summary
A surgical system includes a link of a manipulator arm and a telescoping cannula mount assembly. The link includes a curved end. The telescoping cannula mount assembly is positioned in the curved end of the link. The telescoping cannula mount assembly includes a curved cannula mount arm. In a first state, the curved cannula mount arm is parked within the curved end of the link. In a second state, the curved cannula mount arm extends from the curved end of the link and is locked in an extended position. The telescoping cannula mount assembly also includes a mechanical arm retraction system. The mechanical arm retraction system couples the curved cannula mount arm to the curved end of the link. The mechanical arm retraction system is configured to automatically move the curved cannula mount arm from the second state to the first state.