A Magnetically Coupled Disposable Compliant Tool Tip for Robotic Surgery

Technology: Hermetically sealed surgical tool assembly; Industry: Surgical Device; Applications: Surgical Tool;

Market: The global minimally invasive surgical instruments market is projected to grow at a CAGR of 7.4 % during 2023to2026;

Generally, it is noted that robotic surgery facilitates to restore part of the lost dexterity in contrast to a minimally invasive laparoscopic tool which includes Endoscopic surgical tool having one&more Degree of freedom(DOF). In conventional robotic surgical tool, the power transmission run along the length of the tube through conduits in the tool shaft which couples the actuator elements and the tool tip.
These tethers do not have mechanical seals, so during surgical procedures bodily fluids & tissue find their way into the narrow crevices of the tool tip, & to the drive pulleys of the actuators located at the distal end of the tool. Further, the problem of bio fouling is still not eliminated as the coupling is still exposed to body fluids.
Hence, there is a need to mitigate above challenges.

The present invention describes a tool assembly that has a hermetically sealed part & a disposable part that comes in contact with the surgical site that are magnetically connected to provide actuation. Said tool assembly comprising:

A disposable tooltip assembly actuated by tethers & connected to a plurality of outer permanent magnets; and
A tool shaft assembly having a hermetically sealed barrier configured to be an extension of the surgical tool, & to facilitate attachment thereto, & actuation of the tool tip assembly.
Said hermetically sealed surgical tool assembly for robotic surgery, is configured to connect to a disposable surgical tool tip assembly having an end effector and to provide a plurality of degrees of freedom to the end effector. (Refer figures.1, 2 & 3)

Technical Perspective

Facilitates the hermetic sealing of a valuable surgical robotic tool to prevent biofouling and to use an end effector that is disposable.
The monolithic & interchangeable tooltip provides a plurality of degrees of freedom to the end effector.
The tool assembly further includes a plurality of rigid links with inner permanent magnets which are magnetically couple to the outer magnets to transfer power from the actuators to the end effector through the hermetic barrier to manipulate the tooltip with the plurality of degrees of freedom.
The modified hybrid flexure increases the buckling strength of the tool tip by a factor of 2 to 2.5 in comparison to simple flexure. Further, the off-axis stiffness of the flexure is improved by the hybrid flexure by a factor of 1.5 to 2 over simple flexure.
Present invention facilitates by mitigating bio fouling.

Industrial Perspective

Provides a hermetically sealed surgical tool assembly to connect to a disposable surgical tool tip end effector for a tele-operated surgical robot applicable in surgical units in the Hospitals/Medical Institution

Prof. Asokan T

Department of Engineering Design

TRL- 4

Proof of Concept ready & validated

Technology Transfer