Trocar Holder Segmentation for Diameter Adaptability
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Solution Overview
Problem
Existing trocar holders for robotic operating systems are not easily adaptable to different trocar diameters, leading to inconsistent holding security and increased tissue strain during minimally invasive procedures, and they often compromise sterility due to non-sterile components being close to the patient.
Innovation Solution
A trocar holder with a receiving element that can be easily exchanged and rotated, featuring radial bearings to prevent axial movement and a quick-release coupling mechanism, allowing for secure adaptation to various trocar diameters and reducing tissue load through a compact design, while maintaining sterility with a sterilization film barrier.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a fixed-design trocar holder is used, then the structure is simple and reliable, but it cannot be easily adapted to different trocar diameters
Solution Approach 1:
The trocar holder is divided into modular components: a base element that remains fixed and a clamp element that can be exchanged. The clamp element includes two legs with a receiving element that can be replaced to adapt to different trocar diameters. This segmentation allows the system to maintain simplicity while gaining adaptability through component interchangeability.
Solution Approach 2:
The base element serves multiple functions: providing structural support, mounting the clamp element, and maintaining electrical contact with the manipulator. The clamp element with exchangeable receiving elements provides universal adaptability to hold different trocar types and diameters, making the overall system multi-functional without requiring complete redesign for each application.
2Reliability
If a non-exchangeable clamp design is used, then the manufacturing is simpler, but the holding security varies for different trocar diameters
Solution Approach 1:
The clamp element is segmented into a reusable body and exchangeable receiving elements. Each receiving element is specifically designed to match certain trocar diameters, ensuring optimal holding security. The segmentation allows standardized manufacturing of the clamp body while enabling customization through interchangeable receiving elements.
Solution Approach 2:
The receiving elements are designed with different geometric parameters (opening size, shape, dimensions) to accommodate various trocar diameters. By changing these parameters in the receiving elements rather than the entire clamp, the system achieves reliable holding for different trocars while keeping manufacturing relatively simple through standardized components.
3Object-affected harmful factors
If the base element remains attached to the manipulator, then electrical contact is maintained, but sterility is compromised due to proximity to non-sterile components
Solution Approach 1:
The electrical contact function is extracted from the mechanical connection between base element and manipulator. The base element maintains electrical contact with the manipulator through dedicated contact elements, while the clamp element with receiving elements can be sterilized separately. This extraction allows the sterile components to be isolated from non-sterile mechanical mounting structures.
Solution Approach 2:
The base element acts as an intermediary between the non-sterile manipulator and the sterile clamp element. It provides electrical contact with the manipulator while presenting a sterile interface to the clamp element. This intermediary function allows electrical connectivity to be maintained while preserving sterility boundaries in the surgical field.
4Object-affected harmful factors
If a compact design is used, then tissue strain is reduced, but the structure becomes more complex
Solution Approach 1:
The trocar holder is segmented into compact modular components that can be closely integrated. The base element, clamp element, and receiving element fit together in a space-efficient arrangement. This segmentation allows the overall structure to be compact, reducing the footprint and tissue strain, while the modular nature manages complexity through standardized interfaces.
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 trocar holder ensures secure holding of trocars across different diameters, reduces tissue strain, and enhances hygiene by allowing easy replacement and sterilization, improving the safety and efficiency of minimally invasive procedures.
Implementation Method 1
A radiax bearing is formed in the area of the tips of each of the two legs. When the legs are closed, the receiving element is prevented from axial movement by the radial bearings.
Data Source
Figure 1a~1b
Figure 2
Figure 3
AI summary
The invention relates to a trocar holder for a manipulator of a robotic surgical system. Such a trocar holder comprises a base element (19) for attaching the trocar holder to the manipulator and a clamping element (20) which is interchangeably connected to the base element (19) via a coupling mechanism. The clamping element (20) has two legs (21) that are movable relative to each other in a clamping plane. The legs (21) are connected by a back (23) and have free tips (22). Finally, the trocar holder also has a clamping mechanism for opening and closing the legs (21).