Articulated Handle with Amplification Pulleys for Surgical Telemanipulators
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current surgical robotic systems lack ergonomic hand motion ranges and generate insufficient gripping forces at the instrument's end-effector, limiting their effectiveness in complex minimally invasive surgeries due to complex mechanical and electronic systems that are costly and space-intensive.
Innovation Solution
A mechanical telemanipulator handle mechanism with an articulated design and amplification system that modifies the angular relation between master and slave degrees-of-freedom for the 'open/close' function, providing higher gripping forces and a more ergonomic range of motion by using pulley-routed flexible elements and amplification pulleys to increase the gripping force and reduce physical limitations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If a mechanical telemanipulator uses a direct transmission system without amplification, then the system complexity is reduced, but the gripping force at the end-effector is insufficient
Solution Approach 1:
The patent introduces an amplification mechanism as an intermediary component between the master manipulator and slave manipulator. This mechanism uses pulleys and flexible elements to transmit and amplify the force from the master side to the slave side, enabling sufficient gripping force at the end-effector without requiring the master manipulator to generate extremely high forces directly.
Solution Approach 2:
The patent employs a flexible element (cable or tendon) that runs through pulleys to transmit force. This flexible transmission system allows for force amplification through mechanical advantage, where the flexible element can be routed through multiple pulleys to multiply the input force while maintaining a relatively simple overall system architecture.
2Ease of operation
If the handle mechanism uses a non-articulated design, then the structure is simpler, but the ergonomic range of motion is limited and hand motion is uncomfortable
Solution Approach 1:
The handle mechanism is divided into multiple articulated segments or links that can move relative to each other. This segmentation allows the handle to adapt its configuration to different operational positions and provides a more natural range of motion for the surgeon's hand, improving ergonomics while maintaining manageable structural complexity through modular design.
Solution Approach 2:
The handle mechanism incorporates dynamic elements that allow it to change its configuration during operation. The articulated joints and flexible connections enable the handle to adapt to different operational requirements, providing a more ergonomic and comfortable motion experience while maintaining system simplicity through controlled degrees of freedom.
3Adaptability or versatility
If surgical robotic systems use complex mechanical and electronic systems, then the functionality is enhanced, but the acquisition and maintenance costs become extremely high
Solution Approach 1:
The patent replaces complex electronic control systems with a purely mechanical transmission system. The force amplification and motion transmission are achieved through mechanical means (pulleys, flexible elements, and articulated linkages) rather than through electronic actuators and controllers, significantly reducing system complexity and cost while maintaining the necessary surgical functionality.
Solution Approach 2:
The mechanical transmission system is designed to be self-contained and maintenance-free in terms of electronic components. The purely mechanical design eliminates the need for complex electronic systems, reducing both acquisition and maintenance costs while preserving the essential force transmission and motion control capabilities needed for surgical procedures.
4Force
If the transmission system does not amplify force, then the system remains simpler, but the gripping force at the end-effector is insufficient for complex surgeries
Solution Approach 1:
The patent introduces an amplification mechanism as an intermediary component between the master manipulator and slave manipulator. This mechanism uses pulleys and flexible elements to transmit and amplify the force from the master side to the slave side, enabling sufficient gripping force at the end-effector without requiring the master manipulator to generate extremely high forces directly.
Solution Approach 2:
The patent employs a flexible element (cable or tendon) that runs through pulleys to transmit force. This flexible transmission system allows for force amplification through mechanical advantage, where the flexible element can be routed through multiple pulleys to multiply the input force while maintaining a relatively simple overall system architecture.
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
The solution enhances the surgeon's ability to perform complex surgeries with improved dexterity and reduced fatigue by providing higher gripping forces and ergonomic hand motion, addressing the limitations of existing systems while minimizing system complexity and cost.
Implementation Method 1
a flexible element arranged to route force and motion from the master manipulator to the slave manipulator
Implementation Method 2
an amplification system configured to act on the two distal degrees-of-freedom... the angular relation between master and slave degrees-of-freedom is changed in some degrees of freedom
Data Source
AI summary
Disclosed is a mechanical telemanipulator handle to control surgical instruments with articulated end-effectors, such as dissectors, scissors or graspers, enhancing a surgeon's performance during various surgical procedures. These surgical instruments may be inserted into surgical incisions in a body of a patient and the articulated end-effector is mounted on the distal extremity of the instrument shaft, comprising a plurality of links interconnected by a plurality of joints, whose movements are remotely controlled at the telemanipulator's proximal handle. This remote actuation is accomplished through mechanical transmission, optimally along flexible elements, which are able to kinematically connect the end-effector with the handle such that the movements applied on the handle are reproduced by the end-effector at a predetermined scaled ratio. The articulated handle further comprises one or more movement-amplification systems that amplify the movements generated at the handle so that the gripping force at the instrument's end-effector can be increased and the surgeon's ergonomy improved.