Torque-Sensing Self-Alignment in Robotic Medical Instrument Docking
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Solution Overview
Problem
Existing robotic medical systems face challenges in efficiently docking and controlling medical instruments, particularly in minimally invasive procedures, due to the need for precise alignment and torque management, which can be cumbersome and require complex mechanical assemblies that complicate sterilization processes.
Innovation Solution
The system incorporates a robotic medical instrument drive mechanism with pre-tensioned pull wires, a motor, torque sensor, and computer-controlled activation based on torque thresholds, allowing for precise alignment and control of medical instruments while maintaining sterility by separating the instrument driver from the medical instrument with a sterile adapter.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If robotic medical instruments use pre-tensioned pull wires requiring precise alignment during docking, then control precision is improved, but device complexity and difficulty of docking increase
Solution Approach 1:
The system uses the torque sensor to automatically detect misalignment conditions and activates the motor to self-correct the alignment of drive inputs and drive outputs during docking, eliminating the need for manual precision alignment by operators
Solution Approach 2:
The patent replaces manual mechanical alignment procedures with an automated system combining torque sensing, motor actuation, and computer control to achieve precise alignment automatically during the docking process
2Measurement precision
If complex mechanical assemblies are used for torque management during docking, then control precision is improved, but ease of sterilization deteriorates
Solution Approach 1:
The system separates the robotic instrument driver (non-sterile) from the medical instrument (sterile) using a sterile adapter interface, allowing independent sterilization of the medical instrument while maintaining torque control capabilities through the interface
Solution Approach 2:
A sterile adapter serves as an intermediary component between the non-sterile instrument driver and sterile medical instrument, enabling torque transmission and control while maintaining sterility boundaries and simplifying sterilization protocols
3Device complexity
If manual alignment procedures are used during docking, then device complexity is reduced, but productivity and docking efficiency deteriorate
Solution Approach 1:
The docking system performs self-alignment by using the torque sensor to detect misalignment and automatically activating the motor to correct positioning, eliminating time-consuming manual alignment procedures and improving docking efficiency
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 approach enables precise and ergonomic control of medical instruments, enhances procedural ease, and facilitates sterilization by separating sterile and non-sterile components, improving the efficiency and usability of robotic medical systems.
Implementation Method 1
a torque sensor associated with the drive output and configured to measure torque imparted on the drive output
Implementation Method 2
a motor associated with the drive output and configured to rotate the drive output; the instructions cause the processor to activate the motor associated with the drive output to rotate the drive output in response to a torque signal from the torque sensor
Data Source
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AI summary
Certain aspects relate to systems and techniques for docking medical instruments. For example, a medical system can include an instrument drive mechanism having a drive output that rotates and engages a corresponding drive input on a robotic medical instrument, a motor configured to rotate the drive output, and a torque sensor configured to measure torque imparted on the drive output. The robotic medical instrument can include a pre-tensioned pull wire actuated by the drive input. The system can activate the motor associated with the drive output to rotate the drive output in response to a torque signal from the torque sensor associated with the drive output in order to align the drive output with the drive input.