Articulated Surgical End Tool Pulleys for Intuitive Jaw Bending
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Solution Overview
Problem
Conventional surgical instruments with unbendable end tools are not intuitive for operators, leading to difficulty in performing surgical operations, as the operation direction of the operator does not match the actual bending direction of the end tool, resulting in confusion and errors.
Innovation Solution
A surgical instrument with an end tool that includes independently rotating jaws and an operator system with pitch, yaw, and actuation operators, connected via wires and pulleys, ensuring the operation direction of the operator is intuitively identical to the end tool's movement, allowing for precise and intuitive control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a conventional surgical instrument uses an unbendable end tool, then the structure is simple and easy to manufacture, but it is not suitable for accessing a surgical region and performing various surgical operations
Solution Approach 1:
The end tool is divided into multiple segments that can bend relative to each other, allowing the tool to navigate complex surgical pathways while maintaining structural integrity through controlled segmentation
Solution Approach 2:
The end tool transitions from a static unbendable structure to a dynamic bendable structure that can adapt its configuration during surgical operations, enabling access to various surgical regions through controlled bending movements
2Adaptability or versatility
If a surgical instrument has a bendable end tool, then it can access surgical regions effectively, but the operation of the operator for bending the end tool is not intuitively identical to the actual bending operation
Solution Approach 1:
The operator controls are positioned and oriented such that the operator's hand movements directly mirror the desired end tool movements, inverting the traditional control scheme where operators must learn non-intuitive control mappings
Solution Approach 2:
The operator interface replicates the spatial relationships and movement directions of the actual surgical operations, creating a intuitive copy of the end tool's operational space that allows operators to perform movements naturally as if directly manipulating the end tool
3Device complexity
If the operator's operation direction does not match the actual bending direction of the end tool, then the control mechanism is complex, but it results in confusion and errors for surgical operators
Solution Approach 1:
The control mechanism incorporates feedback that provides operators with real-time information about end tool position and orientation, allowing operators to correct deviations and maintain accurate control despite the complex bending mechanics
Solution Approach 2:
An intermediary control mechanism is introduced that translates complex multi-axis bending inputs into intuitive single-axis operator movements, acting as a mediator between the operator's simple movements and the complex end tool bending requirements
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This configuration enhances the convenience, accuracy, and speed of surgical operations by aligning the operator's movement with the end tool's actions, reducing the likelihood of errors and improving operational efficiency.
Implementation Method 1
an operating force transmitter including a first jaw wire connected with the first jaw to transmit an operation of the operator to the first jaw, a second jaw wire connected with the second jaw to transmit an operation of the operator to the second jaw
Implementation Method 2
an operator including a pitch operator controlling a pitch motion of the end tool, a yaw operator controlling a yaw motion of the end tool, and an actuation operator controlling an actuation motion of the end tool
Data Source
AI summary
Provided is an end tool including: a first jaw configured to rotate independently; a J11 pulley coupled with the first jaw and configured to rotate around a first axis formed at an end tool hub; a J16 pulley formed at one side of the J11 pulley and configured to rotate around a second axis formed at one side of the first axis; a J12 pulley and a J14 pulley formed at one side of the J16 pulley, and configured to rotate around a third axis formed at a predetermined angle with the first axis. The end tool may further include: a first jaw wire configured to at least partially contact the J12 pulley, the J11 pulley, the J16 pulley, and the J14 pulley; a J16 pulley formed between the J11 pulley and a J12 pulley/a J14 pulley; and the first jaw wire is located on an internal tangent of the J11 pulley and the J16 pulley.