Articulable Endoscopic Instruments for Surgical Triangulation
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Solution Overview
Problem
Surgical endoscopy faces challenges in achieving triangulation due to the inability of existing endoscopic instruments to be independently articulated, which complicates accessing and manipulating target tissue for dissection, interfering with visualization and procedure difficulty.
Innovation Solution
Development of articulable endoscopic instruments with a handle-controlled articulable retractor and end effector that can be passed through endoscope channels, allowing for independent manipulation and locking of orientations to facilitate triangulation on target tissue.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If endoscopic instruments are designed to pass through narrow working channels, then they can be used minimally invasively, but they cannot be independently articulated
Solution Approach 1:
The endoscopic instrument is divided into multiple articulated segments or links that can move relative to each other. This segmentation allows the instrument to bend and articulate independently while maintaining a compact profile that fits through narrow working channels, resolving the contradiction between minimally invasive capability and independent articulation.
Solution Approach 2:
The instrument incorporates dynamic articulation mechanisms that allow it to change its configuration from a straight compact form (for insertion through channels) to an articulated form (for manipulation at the target site). This dynamic capability enables the instrument to achieve independent articulation when needed while maintaining minimal invasiveness during insertion.
2Length of moving object
If endoscopic instruments are linearly extended from the endoscope, then they can access the surgical site, but triangulation of target tissue becomes difficult
Solution Approach 1:
The instrument transitions from one-dimensional linear extension to multi-dimensional articulation by incorporating joints that enable bending in multiple planes. This dimensional change allows the instrument to reach target tissue through linear extension while simultaneously achieving triangulation through articulation in different spatial dimensions.
Solution Approach 2:
By dividing the instrument into articulated segments, the system gains the ability to form triangular configurations with the endoscope and target tissue. The segmented structure allows independent positioning of different segments to achieve the geometric relationships necessary for triangulation, overcoming the limitation of linear-only instruments.
3Ease of operation
If the endoscope must be manipulated to create a dissection plane, then triangulation may be achieved, but visualization of the dissection plane is interfered with
Solution Approach 1:
The articulation function is extracted from the endoscope and transferred to the endoscopic instrument itself. This separation allows the endoscope to remain stationary and maintain optimal visualization of the dissection plane, while the instrument performs the triangulation and dissection plane creation through its own independent articulation capabilities.
Solution Approach 2:
The articulated instrument acts as an intermediary between the endoscope and the target tissue. It receives positioning commands from the surgeon and independently adjusts its own orientation to create the dissection plane, eliminating the need for the endoscope to maneuver and thereby preserving clear visualization.
Data Source
AI summary
In one embodiment, an articulable endoscopic instrument including an articulable retractor configured to pass through a working channel of an endoscope, the articulable retractor including an end effector mounted to a distal end of the articulable retractor, and a handle to which the articulable retractor is mounted, the handle comprising controls that enable a user of the instrument to both articulate the retractor and actuate the end effector, wherein the retractor can be articulated using the controls to form two independent bends lying within one plane, the bends together forming a complex curve.