TECHNIQUES FOR DAMPING VIBRATION IN A ROBOTIC SURGICAL SYSTEM
An apparatus for use during robotic surgery, where the apparatus includes a robotic arm; a tool driver connected to the robotic arm; a cannula including a proximal portion and a distal portion wherein the proximal portion is coupled to the tool driver; and a damping element connected to one of the robotic arm, the tool driver and the cannula. Also, a method including guiding a surgical tool coupled to a robotic arm into a patient, wherein the surgical tool is disposed through a cannula and coupled to a tool driver coupled to a distal portion of the robotic arm; and maneuvering the tool driver by way of the robotic arm, wherein vibrations generated by the maneuvering are inhibited by a damping element coupled to one of the robotic arm, the tool driver and the cannula.
1 . An apparatus for use during surgery, the apparatus comprising:
a robotic arm having a first segment coupled to a second segment by a first joint;
a tool driver having a second joint coupling the tool driver to the second segment of the robotic arm;
a cannula comprising a proximal portion and a distal portion wherein the proximal portion is coupled to the tool driver; and
a damping element coupled to one of the robotic arm or the tool driver.
2 . The apparatus of claim 1 , wherein the damping element comprises a flexible covering disposed on a portion of the robotic arm.
3 . The apparatus of claim 1 , wherein the first segment and the second segment comprise a number of robotic arm links and the damping element is coupled to at least one robotic arm link of the number of robotic arm links.
4 . The apparatus of claim 3 , wherein the damping element comprises a damping foam material injected into a cavity of the at least one robotic arm link.
5 . The apparatus of claim 3 , wherein the damping element comprises a honeycomb structure including an elastomeric material embedded within the at least one robotic arm link.
6 . The apparatus of claim 1 , wherein the second segment comprises a parallelogram linkage and the damping element comprises a layer of damping material disposed in the parallelogram linkage.
7 . The apparatus of claim 1 , wherein the damping element comprises an elastomeric material coupled to the first joint.
8 . The apparatus of claim 1 , wherein the damping element comprises an elastomeric material coupled to the second joint.
9 . The apparatus of claim 1 , wherein the damping element is disposed between the tool driver and the cannula.
10 . The apparatus of claim 1 , further comprising a sterile adapter coupled to the tool driver and a second damping element coupled to the sterile adapter.
11 . A method comprising:
guiding a surgical tool coupled to a robotic arm into a patient, wherein the robotic arm comprises a first segment and a second segment, and the surgical tool is disposed through a cannula and coupled to a tool driver coupled to a distal portion of the second segment of the robotic arm; and
maneuvering the tool driver by way of the robotic arm, wherein vibrations generated by the maneuvering are inhibited by a damping element coupled to the robotic arm or the tool driver.
12 . The method of claim 11 , wherein the damping element comprises a flexible covering disposed on a portion of the robotic arm.
13 . The method of claim 11 , wherein the first segment and the second segment comprise a number of robotic arm links and the damping element is coupled to at least one robotic arm link of the number of robotic arm links.
14 . The method of claim 13 , wherein the damping element comprises a damping foam material injected into a cavity of the at least one robotic arm link.
15 . The method of claim 13 , wherein the damping element comprises a honeycomb structure including an elastomeric material embedded within the at least one robotic arm link.
16 . The method of claim 11 , wherein the second segment comprises a parallelogram linkage and the damping element comprises a layer of damping material disposed in the parallelogram linkage.
17 . The method of claim 11 , wherein the damping element comprises an elastomeric material coupled to a joint between the first segment and the second segment of the robotic arm.
18 . The method of claim 11 , wherein the damping element comprises an elastomeric material coupled to a joint between the robotic arm and the tool driver.
19 . The method of claim 11 , wherein the damping element is disposed between the tool driver and the cannula.
20 . The method of claim 11 , wherein the damping element is disposed between the tool driver and the surgical tool.