Universal Robotic Surgical Instrument Holder with Variable Diameter Jaws
Solution Overview
Problem
Traditional robotic instrument holders require frequent changes due to fixed diameters, leading to time-consuming procedures and increased costs for sterilization and maintenance.
Innovation Solution
The development of adjustable instrument positioning devices with variable passage sizes, allowing for the use of instruments with different diameters without changing the holder, and facilitating easy assembly and disassembly for sterilization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If fixed-diameter guide tubes are used for different instruments, then precise trajectory guidance is achieved, but multiple guide tubes must be changed during surgery
Solution Approach 1:
A single guide tube structure is designed to accommodate multiple instruments with different diameters through adjustable jaws, eliminating the need to change guide tubes during surgery. The guide tube can be configured to hold various instruments while maintaining precise trajectory guidance for each.
Solution Approach 2:
The guide tube incorporates adjustable jaws that can dynamically change the internal diameter to match different instrument sizes. This dynamic adjustment capability allows the same guide tube to precisely guide instruments of varying diameters without requiring physical replacement of the guide tube itself.
2Measurement precision
If multiple guide tubes with different diameters are used, then instruments with different diameters can be precisely guided, but clean-up and sterilization time and costs increase
Solution Approach 1:
Instead of maintaining multiple specialized guide tubes for different instrument diameters, a single universal guide tube design is implemented that can accommodate all instrument sizes through adjustment mechanisms. This reduces the total number of guide tubes requiring sterilization and maintenance while maintaining precise diameter matching capability.
3Adaptability or versatility
If a single adjustable instrument holder is used, then the number of guide tubes is reduced, but the device complexity increases
Solution Approach 1:
The adjustable guide tube is divided into modular components including separate adjustable jaws, positioning mechanisms, and locking features. This segmentation allows the complex functionality to be achieved through simpler, standardized sub-components that can be independently manufactured and assembled.
Solution Approach 2:
The guide tube incorporates self-locking mechanisms and automatic positioning features that reduce the need for complex external control systems. The adjustment mechanisms are designed to self-regulate and maintain position without requiring complex actuation systems, thereby reducing overall device complexity while maintaining versatility.
Data Source
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AI summary
An instrument holder assembly for use with a robotic surgical system can comprise one or more modules for holding or guiding an instrument. Each module can comprise a variable diameter jaw having movable teeth configured to hold or guide different sized instruments. Each module can be attached to opposite ends of a main shaft that can couple to an arm of the robotic surgical system. A central passage can extend through each module and the main shaft and the variable diameter jaws can constrict the central passage. Teeth of the variable diameter jaws can be biased to a closed or opened position. A tensioner tool can be used to hold biasing elements in position so that the teeth can be loaded into the module. The teeth can be loaded into slots of the module using a tooth holder device.