Dual-Input Actuation Combiner for Surgical Tool Sealing
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Solution Overview
Problem
Existing surgical tools lack the ability to manually adjust sealing forces and provide motorization, leading to inefficiencies in tissue manipulation and sealing during minimally-invasive surgery.
Innovation Solution
An actuation combiner mechanism that combines the actuation forces of two input links to control a surgical tool's operation, allowing for manual adjustment and motorization, enhancing functionalities such as improved sealing, tissue property identification, and haptic feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual actuation is used, then ease of operation is maintained, but sealing force control precision deteriorates
Solution Approach 1:
The patent combines manual actuation (closure lever) with motorized actuation (motor) through a combiner mechanism. The motor provides precise force control and sensing capabilities, while the manual lever maintains ease of operation. The combiner mechanism merges these two actuation methods into a unified system that delivers both precision and usability.
Solution Approach 2:
The patent replaces pure mechanical actuation with a hybrid system that incorporates a motor. The motor provides electronic control and force sensing capabilities that enhance the precision of sealing force control, while the manual lever component preserves the ease of operation characteristic of mechanical systems.
2Measurement precision
If motorization is added, then sealing force precision is improved, but device complexity increases
Solution Approach 1:
The motor in the patent serves multiple functions: it provides motorized actuation for precision control, enables force sensing through the combiner mechanism, and can assist or override manual operation. This multi-functionality justifies the added complexity by delivering multiple benefits from a single component.
Solution Approach 2:
The combiner mechanism acts as an intermediary between the motor and the closure lever. It integrates the motorized actuation with the manual actuation system, allowing the motor to provide precise force control while maintaining the simplicity of manual operation when needed. This intermediary structure manages the complexity by providing a clear interface between different actuation modes.
3Adaptability or versatility
If fixed sealing force is used, then device simplicity is maintained, but adaptability to different tissue properties deteriorates
Solution Approach 1:
The patent implements dynamic sealing force control where the motor can adjust the clamping force in real-time based on tissue properties and procedural requirements. This dynamic adjustment capability allows the same tool to perform different levels of forces during sealing, adapting to various tissue types without requiring multiple specialized tools.
Solution Approach 2:
The patent enables changes in the sealing force parameter through motor control. The system can modulate the applied force to apply high and low forces over several cycles to soften hard/fatty tissues, and can ramp up to higher force when sealing is triggered. This parameter adjustment provides adaptability to different tissue properties while maintaining a single unified device structure.
Data Source
AI summary
A surgical tool for a surgical robotic system, the surgical tool comprising: a surgical tool grasper having a jaw operable to perform a surgical procedure; a handle coupled to the surgical tool grasper and having a lever operable to actuate the jaw; and an actuation combiner mechanism coupled to the lever and operable to combine a first actuation force input of a lever input link from the lever with a second actuation force input of a mechanical input link from a mechanical actuator into an output link to control the operation of the jaw or the lever.