DESC:FIELD OF DISCLOSURE
The present disclosure relates to robotic surgery, and more particularly to a quick release locking mechanism for a robot end flange and surgical tool.
BACKGROUND
Traditionally, surgical operations were performed by surgeons. With the development of the medical technology, now a days, robots are involved in the surgical operations. Such robots are often termed as surgical robots. Surgical robots are adapted to couple surgical tools for performing the surgical operations. During the surgical operations, surgical robots require different types of surgical tools. Thus, the surgical robot needs to replace the different types of surgical tools according to different clinical needs. This requires the use of a coupling structure between the surgical tools and the end flange of the surgical robot arm that is easy to assemble and disassemble.
Currently, fasteners such as screws, nuts and bolts etc. are used for coupling between the surgical tools and an end flange of the surgical robot arm. However, use of the screws, the nuts and bolts etc. during assembly and disassembly of the surgical tools and an end flange of the surgical robot arm is very cumbersome and time-consuming.
Thus, there is a need for a technical solution that overcomes the aforementioned problems of conventional coupling means for coupling between the surgical tools and an end flange of the surgical robot arm.
SUMMARY
This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
In an aspect of the present disclosure, a method for installing a quick release locking mechanism is disclosed. The method includes providing a tool flange portion and a robot end flange portion. The method includes aligning a plurality of projected portions disposed on the tool flange portion with a plurality of cut portions disposed on the robot end flange portion. The method further includes engaging the plurality of projected portions with the plurality cut portions. The method further includes actuating an indexing plunger to engage a spring-loaded pin to a receiving hole disposed on the tool flange portion such that the tool flange portion is secured to the robot end flange portion.
In some aspects of the present disclosure, the tool flange portion includes a first portion, and a second portion coupled to each other by way of a hinge joint.
In some aspects of the present disclosure, the first portion includes the indexing plunger and the second portion includes the receiving hole.
In some aspects of the present disclosure, actuating the indexing plunger includes pulling a knob coupled to the spring-loaded pin to retract the spring-loaded pin and then releasing the knob to engage the spring-loaded pin into the receiving hole.
In some aspects of the present disclosure, the method further includes coupling one or more surgical tool to the tool flange portion by way of a plurality of mounting holes disposed on the second portion.
In an aspect of the present disclosure, a quick release locking mechanism is disclosed. The quick release locking mechanism includes a robot end flange portion including a plurality of cut portions and a tool flange portion. The tool flange portion includes a plurality of projected portions that are adapted to engage with the plurality of cut portions, a receiving hole, and an indexing plunger including a spring-loaded pin such that the indexing plunger upon actuation is configured to engage the spring-loaded pin to the receiving hole so that the tool flange portion is secured to the robot end flange portion.
In some aspects of the present disclosure, the tool flange portion includes a first portion, and a second portion coupled to each other by way of a hinge joint.
In some aspects of the present disclosure, the first portion includes the indexing plunger and the second portion comprising the receiving hole.
In some aspects of the present disclosure, the indexing plunger includes a knob that is coupled to the spring-loaded pin, such that the knob is adapted to retract and release the spring-loaded pin when the knob is pulled and released, respectively for actuation of the indexing plunger.
In some aspects of the present disclosure, the second portion further includes a plurality of mounting holes that are adapted to couple a plurality of surgical tools to the tool flange portion.
BRIEF DESCRIPTION OF FIGURES
The following detailed description of the preferred aspects of the present disclosure will be better understood when read in conjunction with the appended drawings. The present disclosure is illustrated by way of example, and not limited by the accompanying figures, in which like references indicate similar elements.
FIG. 1 illustrates a perspective view of a quick release locking mechanism, according to aspects of the present disclosure.
FIG. 2A illustrates an exploded view of the quick release locking mechanism of FIG. 1, according to an embodiment.
FIG. 2B illustrates another exploded view of the quick release locking mechanism of FIG. 1, according to aspects of the present disclosure.
FIG. 3A illustrates a side sectional view of the quick release locking mechanism in an unlocked state, according to an embodiment.
FIG. 3B illustrates a side sectional view of the quick release locking mechanism in a locked state, according to aspects of the present disclosure.
FIG. 4 illustrates a flow chart of a method for installing a quick release locking mechanism, according to aspects of the present disclosure.

DETAILED DESCRIPTION
The following description sets forth exemplary aspects of the present disclosure. It should be recognized, however, that such description is not intended as a limitation on the scope of the present disclosure. Rather, the description also encompasses combinations and modifications to those exemplary aspects described herein.
Various aspects of the present disclosure provide a quick release locking mechanism for a robot end flange and a surgical tool. The following description provides specific details of certain aspects of the disclosure illustrated in the drawings to provide a thorough understanding of those aspects. It should be recognized, however, that the present disclosure can be reflected in additional aspects and the disclosure may be practiced without some of the details in the following description.
The various aspects including the example aspects are now described more fully with reference to the accompanying drawings, in which the various aspects of the disclosure are shown. The disclosure may, however, be embodied in different forms and should not be construed as limited to the aspects set forth herein. Rather, these aspects are provided so that this disclosure is thorough and complete, and fully conveys the scope of the disclosure to those skilled in the art.
It is understood that when an element or layer is referred to as being “on,” “connected to,” or “coupled to” another element or layer, it can be directly on, connected to, or coupled to the other element or layer or intervening elements or layers that may be present. As used herein, the term “and/or” includes any and all combinations of one or more of the associated listed items.
Aspects described herein refer to plan views and/or cross-sectional views by way of ideal schematic views. Accordingly, the views may be modified depending on simplistic assembling or manufacturing technologies and/or tolerances. Therefore, example aspects are not limited to those shown in the views but include modifications in configurations formed on basis of assembling process. Therefore, regions exemplified in the figures have schematic properties and shapes of regions shown in the figures exemplify specific shapes or regions of elements, and do not limit the various aspects including the example aspects.
The subject matter of example aspects, as disclosed herein, is described with specificity to meet statutory requirements. However, the description itself is not intended to limit the scope of this patent. Rather, the inventor/inventors have contemplated that the claimed subject matter might also be embodied in other ways, to include different features or combinations of features similar to the ones described in this document, in conjunction with other technologies. Generally, the various aspects including the example aspects relate to a quick release locking mechanism for a robot end flange and a surgical tool.
As mentioned, there remains a need of a coupling structure that facilitates quick assembly and disassembly of a surgical tool. Accordingly, the present disclosure provides a quick release locking mechanism for a robot end flange and a surgical tool.
FIG. 1 illustrates a perspective view of a quick release locking mechanism 100, in accordance with an aspect of the present disclosure. The quick release locking mechanism 100 may be used for coupling a tool end flange 101 (hereinafter referred as “the tool flange portion 101”) with a robot end flange 103 (hereinafter referred as “the robot end flange portion 103”). In other words, the tools flange portion 101 may be coupled to the robot end flange portion 103 to secure the tool with the robot. In some aspects of the present disclosure, the tool may be a surgical tool and the robot may be a surgical robot. However, aspects of the present disclosure are intended to include and/or otherwise provide, any type of tools and robots including known, related and later developed tools and robots, respectively without deviating from the scope of the present disclosure.
FIG. 2A-2B illustrates an exploded view of the quick release locking mechanism 100 of FIG. 1, in accordance with an aspect of the present disclosure. As illustrated in FIG. 2A and 2B, the quick release locking mechanism 100 may include a tool flange portion 101 and a robot end flange portion 103.
The robot end flange portion 103 may include a plurality of cut portions 212. In some aspects of the present disclosure, the plurality of cut portions 212 may be tapered cut portions. Aspects of the present disclosure are intended to include or otherwise cover any other shape of the plurality of cut portions 212 known to a person having ordinary skills in the art, without deviating from the scope of the present disclosure.
The tool flange portion 101 may include a plurality of projected portions 206, an indexing plunger 208, and a receiving hole 210. The plurality of projected portions 206 may be adapted to engage with the plurality cut portions 212. In some aspects of the present disclosure, the plurality of projected portions 206 may be tapered projected portions. Aspects of the present disclosure are intended to include or otherwise cover any other shape of the plurality of projected portions 206 known to a person having ordinary skills in the art, without deviating from the scope of the present disclosure. The indexing plunger 208 may be configured to engage with the receiving hole 210 such that the tool flange portion 101 is secured to the robot end flange portion 103.
The tool flange portion 101 may include a plurality of mounting holes 214 on the outer peripheral top surface of the tool flange portion 101. The mounting holes 214 may facilitate coupling a plurality of surgical tools to the tool flange portion 101. In some aspects, the mounting holes 214 may facilitate coupling the plurality of surgical tools to the tool flange portion 101 by way of one or more threaded connection and/or plurality of fastners.
In some aspects of the present disclosure, the tool flange portion 101 may include a first portion 202 and a second portion 204 coupled to each other by way of a hinge joint. Although FIG. 2A and 2B illustrate that the first flange portion 202 and the second flange portion 204 may be coupled by way of the hinge joint, it may be apparent to a person skilled in the art that the scope of the present disclosure is not limited to it and the first flange portion 202 and the second flange portion 204 may be coupled via any other suitable joint, without deviating from the scope of the present disclosure. In some aspects of the present disclosure, the first portion 202 and the second portion 204 may include the plurality of projected portions 206. In a preferred embodiment of the present disclosure, the first portion 202 may be a flange cover. The first portion 202 may facilitate in protecting the quick release locking mechanism.
In some aspects of the present disclosure, the first flange portion 202 may include an indexing plunger 208 and the second flange portion 204 may include a receiving hole 210.
FIG. 3A-3B illustrates side sectional views of the quick release locking mechanism 100 of FIG 1, in accordance with an aspect of the present disclosure. The indexing plunger 208 may include a knob 302 and a spring-loaded pin 304. The spring-loaded pin 304 may be adapted to extend and retract upon pulling and releasing the knob 302 respectively, for actuating the indexing plunger 208. Further, the spring-loaded pin 304 may be adapted to be received inside the receiving hole 210 upon actuation of the indexing plunger (208).
Further the FIG. 3A and the FIG. 3B respectively illustrate the unlocked and locked state of the quick release locking mechanism 100. In the unlocked state, the spring loaded pin 304 may be positioned outside the receiving hole 210. In the locked state, the spring loaded pin 304 may be received inside the receiving hole 210, thereby securing the tool flange portion 101 and the robot end flange portion 103.
In operation, the tool flange portion 101 is disposed on the robot end flange portion 103 in a manner such that the plurality of projected portions 206 is received inside the plurality cut portions 212 for coupling the tool flange portion 101 and the robot end flange portion 103 by the quick release locking mechanism 100. Further, the indexing knob 302 of the indexing plunger 208 is pulled and released to retract and extend the spring-loaded pin 304 of the indexing plunger 208, respectively in a manner such that the spring loaded pin 304 is received inside the receiving hole 210. After receiving the spring-loaded pin 304 inside the receiving hole 210, the quick release locking mechanism 100 is locked and thereby securely couple the tool flange portion 101 and the robot end flange portion 103.
The quick release locking mechanism 100 as described herein may provide several advantages. The mechanism allows for rapid assembly and disassembly of surgical tools on a surgical robot, reducing the time required for tool changes during procedures. The plurality of projected portions 206 and corresponding plurality of cut portions 212 may facilitate easy alignment and engagement between the tool flange portion 101 and robot end flange portion 103. The indexing plunger 208 with its spring-loaded pin 304 provides a secure locking mechanism that can be quickly actuated. The hinged joint coupling the first portion 202 and the second portion 204 of the tool flange portion 101 may allow the tool flange portion 101 to open and/or close for easy placement onto the robot end flange portion 103. The mounting holes 214 on the tool flange portion 101 provide flexibility in attaching various surgical tools.
FIG. 4 illustrates a flow chart of a method 400 for installing a quick release locking mechanism, according to aspects of the present disclosure. The method 400 may begin with step 402, which involves providing a tool flange portion 101 and a robot end flange portion 103. The tool flange portion 101 may include the plurality of projected portions 206, while the robot end flange portion 103 may include the plurality of cut portions 212.
In step 404, the method 400 may involve aligning the plurality of projected portions 206 disposed on the tool flange portion 101 with the plurality of cut portions 212 disposed on the robot end flange portion 103. This alignment step may facilitate proper positioning of the tool flange portion 101 relative to the robot end flange portion 103.
Following alignment, the method 400 may proceed to step 406, where the plurality of projected portions 206 are engaged with the plurality of cut portions 212. This engagement may help secure the tool flange portion 101 to the robot end flange portion 103.
In step 408, the method 400 may involve actuating the indexing plunger 208 to engage the spring-loaded pin 304 to the receiving hole 210 disposed on the tool flange portion 101 such that the tool flange portion 101 is secured to the robot end flange portion 103. In some aspects of the present disclosure, actuating the indexing plunger 208 may involve pulling a knob 302 attached to the spring-loaded pin 304 to retract it.
The method 400 may then proceed to a decision step 410, where it is determined whether the spring-loaded pin 304 is extended into a receiving hole 210. If the spring-loaded pin 304 is not extended into the receiving hole 210, the method 400 may return to step 408 to actuate the indexing plunger 208 again.
If the spring-loaded pin 304 is extended into the receiving hole 210, the method 400 may proceed to step 412, where the tool flange portion 101 is secured to the robot end flange portion 103. This securing step may involve releasing the knob 302 to allow the spring-loaded pin 304 to extend into the receiving hole 210.
In some aspects, the method 400 may further include coupling a surgical tool to the tool flange portion 101. This coupling may be achieved via a plurality of mounting holes 214 on an outer peripheral top surface of the tool flange portion 101. The mounting holes 214 may facilitate attachment of the surgical tool using threaded connections.
The method 400 may provide several advantages in the context of robotic surgical systems. It may allow for quick and efficient exchange of surgical tools during procedures, potentially reducing operation times and improving surgical outcomes. The use of the plurality of projected portions 206 and corresponding plurality of cut portions 212 may facilitate easy alignment and engagement between the tool flange portion 101 and robot end flange portion 103. The indexing plunger 208 with its spring-loaded pin 304 may provide a secure locking mechanism that can be quickly actuated, ensuring a stable connection between the surgical tool and the robot end flange.
The foregoing discussion of the present disclosure has been presented for purposes of illustration and description. It is not intended to limit the present disclosure to the form or forms disclosed herein. In the foregoing Detailed Description, for example, various features of the present disclosure are grouped together in one or more aspects, configurations, or aspects for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention the present disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed aspect, configuration, or aspect. Thus, the following claims are hereby incorporated into this Detailed Description, with each claim standing on its own as a separate aspect of the present disclosure.
Thus, the quick release locking mechanism 100 and method 400 provides several technical advantages. The quick release locking mechanism enables rapid assembly and disassembly of surgical tools on a robotic surgical system, significantly reducing tool change times during procedures. The plurality of projected portions 206 and corresponding plurality of cut portions 212 may facilitate easy alignment and engagement between the tool flange and robot end flange, improving efficiency and reducing the risk of misalignment. The indexing plunger 208 with the spring-loaded pin 304 offers a secure and reliable locking mechanism that can be quickly actuated with minimal effort. The hinged design of the tool flange portion allows it to open easily for placement onto the robot end flange, enhancing ergonomics and ease of use. The mounting holes on the tool flange provide flexibility in attaching various surgical tools, increasing the versatility of the robotic surgical system. Additionally, the flange cover on the first portion of the tool flange serves a dual purpose of protecting the locking mechanism and providing a mounting point for additional accessories, further expanding the system's capabilities.
Aspects of the present disclosure are discussed here with reference to flowchart illustrations and block diagrams that depict methods, systems, and computer program products in accordance with various aspects. Each block within these flowcharts and diagrams, as well as combinations of these blocks, can be executed by computer-readable program instructions. The various logical blocks, modules, circuits, and algorithm steps described in connection with the disclosed aspects may be implemented through electronic hardware, software, or a combination of both. To emphasize the interchangeability of hardware and software, the various components, blocks, modules, circuits, and steps are described generally in terms of their functionality. The decision to implement such functionality in hardware or software is dependent on the specific application and design constraints imposed on the overall system. Professionals skilled in the art can implement the described functionality in different ways depending on the particular application, without deviating from the scope of the present disclosure.
The flowcharts and block diagrams presented in the figures depict the architecture, functionality, and operation of potential implementations of systems, methods, and computer program products according to different aspects of the present disclosure. Each block in the flowcharts or diagrams may represent a module, segment, or portion of instructions comprising one or more executable instructions to perform the specified logical function(s). In some alternative implementations, the order of functions within the blocks may differ from what is depicted. For instance, two blocks shown in sequence may be executed concurrently or in reverse order, depending on the required functionality. Each block, and combinations of blocks, can also be implemented using special-purpose hardware-based systems that perform the specified functions or tasks, or through a combination of specialized hardware and software instructions.
Although the preferred aspects have been detailed here, it should be apparent to those skilled in the relevant field that various modifications, additions, and substitutions can be made without departing from the scope of the disclosure. These variations are thus considered to be within the scope of the disclosure as defined in the following claims.
Features or functionalities described in certain example aspects may be combined and re-combined in or with other example aspects. Additionally, different aspects and elements of the disclosed example aspects may be similarly combined and re-combined. Further, some example aspects, individually or collectively, may form components of a larger system where other processes may take precedence or modify their application. Moreover, certain steps may be required before, after, or concurrently with the example aspects disclosed herein. It should be noted that any and all methods and processes disclosed herein can be performed in whole or in part by one or more entities or actors in any manner.
The terminology used herein may imply direct or indirect, full or partial, temporary or permanent, action or inaction. For example, when one element is described as being "on," "connected to," or "coupled with" another element, it may be directly on, connected to, or coupled with the other element, with or without intervening elements, including both direct and indirect variants. Conversely, when an element is described as being "directly connected" or "directly coupled" to another element, there are no intervening elements present.
Although terms like "first," "second," etc., are used to describe various elements, components, regions, layers, and sections, these terms should not necessarily be interpreted as limiting. They are used solely to distinguish one element, component, region, layer, or section from another. For example, a "first" element discussed here could be referred to as a "second" element without departing from the teachings of the present disclosure.
The terminology used here is intended to describe specific example aspects and should not be considered as limiting the disclosure. The singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "includes," "comprising," and "including," as used herein, indicate the presence of stated features, steps, elements, or components, but do not exclude the presence or addition of other features, steps, elements, or components.
As used herein, the term "or" is intended to be inclusive, meaning that "X employs A or B" would be satisfied by X employing A, B, or both A and B. Unless specified otherwise or clearly understood from the context, this inclusive meaning applies to the term "or."
Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the relevant art. Terms should be interpreted consistently with their common usage in the context of the relevant art and should not be construed in an idealized or overly formal sense unless expressly defined here.
The terms "about" and "substantially," as used herein, refer to a variation of plus or minus 10% from the nominal value. This variation is always included in any given measure.
In cases where other disclosures are incorporated by reference and there is a conflict with the present disclosure, the present disclosure takes precedence to the extent of the conflict, or to provide a broader disclosure or definition of terms. If two disclosures conflict, the later-dated disclosure will take precedence.
The use of examples or exemplary language (such as "for example") is intended to illustrate aspects of the invention and should not be seen as limiting the scope unless otherwise claimed. No language in the specification should be interpreted as implying that any non-claimed element is essential to the practice of the invention.
While many alterations and modifications of the present invention will likely become apparent to those skilled in the art after reading this description, the specific aspects shown and described by way of illustration are not intended to be limiting in any way.
A number of implementations have been described. Nevertheless, it will be understood that various modifications may be made without departing from the scope of the disclosure. Accordingly, other implementations are within the scope of the following claims. ,CLAIMS:1. A method (400) for installing a quick release locking mechanism (100) comprising:
providing a tool flange portion (101) and a robot end flange portion (103);
aligning a plurality of projected portions (206) disposed on the tool flange portion (101) with a plurality of cut portions (212) disposed on the robot end flange portion (103);
engaging the plurality of projected portions (206) with the plurality cut portions (212); and
actuating an indexing plunger (208) to engage a spring-loaded pin (304) to a receiving hole (210) disposed on the tool flange portion (101) such that the tool flange portion (101) is secured to the robot end flange portion (103).
2. The method (400) as claimed in claim 1, wherein the tool flange portion (101) comprises a first portion (202) and a second portion (204) coupled to each other by way of a hinge joint.
3. The method (400) as claimed in claim 2, wherein the first portion (202) comprises the indexing plunger (208) and the second portion (204) comprises the receiving hole (210).
4. The method (400) as claimed in claim 1, wherein actuating the indexing plunger (208) comprising pulling a knob (302) coupled to the spring-loaded pin (304) to retract the spring-loaded pin (304) and then releasing the knob (302) to extend the spring-loaded pin (304) such that the spring loaded pin (304) engages with the receiving hole (210).
5. The method (400) as claimed in claim 1, further comprising coupling one or more surgical tools to the tool flange portion (101) by way of a plurality of mounting holes (214) disposed on the second portion (204).
6. A quick release locking mechanism (100) comprising:
a robot end flange portion (103) comprising a plurality of cut portions (212);
a tool flange portion (101) comprising:
a plurality of projected portions (206) that are adapted to engage with the plurality of cut portions (212);
a receiving hole (210); and
an indexing plunger (208) comprising a spring-loaded pin (304) wherein the indexing plunger (208) upon actuation is configured to engage the spring-loaded pin to the receiving hole (210) such that the tool flange portion (101) is secured to the robot end flange portion (103).
7. The quick release locking mechanism (100) as claimed in claim 6, wherein the tool flange portion (101) comprising a first portion (202) and a second portion (204) coupled to each other by way of a hinge joint.
8. The quick release locking mechanism (100) as claimed in claim 7, wherein the first portion (202) comprising the indexing plunger (208) and the second portion (204) comprising the receiving hole (210).
9. The quick release locking mechanism (100) as claimed in claim 6, wherein the indexing plunger (208) comprising a knob (302) that is coupled to the spring-loaded pin (304), wherein the knob (302) is adapted to retract and release the spring-loaded pin (304) when the knob (302) is pulled and released, respectively for actuation of the indexing plunger (208).
10. The quick release locking mechanism (100) of claim 7, wherein the second portion (204) further comprising a plurality of mounting holes (214) that are adapted to couple a plurality of surgical tools to the tool flange portion (101).