Trocar Attachment Mechanism for Robotic Surgical Arms
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Solution Overview
Problem
Current minimally invasive surgical instruments face challenges in flexibility, dexterity, and intuitive control, particularly in robotic surgery, due to the limitations of traditional trocar attachments which hinder precise movement and coordination during surgical procedures.
Innovation Solution
A surgical system that includes a trocar with a housing and cannula, and a trocar support configured to be mounted on a surgical robotic arm, allowing for two configurations: one enabling free movement and another locking the trocar in a fixed position, using various mechanisms such as latches, linkages, and receiving features for secure attachment and easy release.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the trocar is allowed to move freely relative to the trocar support, then the surgeon can adjust the position and orientation of the trocar during surgery, but the trocar cannot be securely fixed in a precise position
Solution Approach 1:
The trocar support device incorporates a dynamic locking mechanism that allows the trocar to transition between a locked state (for precise positioning during surgery) and an unlocked state (for easy attachment and removal). The latch mechanism can be actuated to lock the trocar in place or released to allow free movement, providing both security and adaptability as needed.
Solution Approach 2:
The system changes the state parameter of the trocar support from unlocked to locked through actuation of the latch mechanism. This parameter change transforms the mechanical state of the connection between trocar and support, enabling the system to provide either freedom of movement or secure fixation based on surgical needs.
2Reliability
If the trocar support includes complex locking mechanisms to secure the trocar, then the trocar can be firmly fixed, but the device complexity increases
Solution Approach 1:
The locking mechanism is designed to be self-actuating through a simple latch that automatically engages when the trocar is inserted and can be released by a straightforward actuation motion. The spring-loaded latch automatically returns to the locked position after release, eliminating the need for complex control systems or multiple components.
Solution Approach 2:
The locking function is segmented into distinct components: a latch element, a spring for providing locking force, and an actuation feature. This segmentation allows each component to perform its specific function simply, reducing overall complexity while maintaining reliable locking capability.
3Ease of operation
If the trocar support allows easy attachment and removal of the trocar, then the ease of operation increases, but the secure fixation during surgery may be compromised
Solution Approach 1:
The system dynamically transitions between an easy-attachment state (latch unlocked) and a secure-fixed state (latch locked). The simple insertion motion automatically triggers the locking mechanism, providing ease of attachment, while the locked state ensures secure fixation during surgical use. The same simplicity is maintained for removal by actuating the release feature.
Data Source
AI summary
Methods and devices are provided for attaching a trocar to a surgical arm. For example, a surgical system is provided that has a trocar with a housing and a cannula extending distally from the housing. The housing and the cannula have a tool pathway extending therethrough for receiving a tool. The system also has a trocar support that is configured to be mounted on a distal end of a surgical robotic arm. The trocar is configured to couple to the trocar support through a variety of engagements, such as engaging the trocar in a first configuration that allows free movement of the trocar relative to the trocar support and in a second configuration in which the trocar is locked in a fixed position relative to the trocar support.