Articulated Needle Holder-Cutter for Miniaturized Robotic Surgery
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Solution Overview
Problem
Existing surgical instruments of the needle-holder/cutter type are unsuitable for miniaturization due to manufacturing complexities, assembly difficulties, and inaccuracies in micro-scale production, which hinder their use in robotic teleoperated micro-surgery.
Innovation Solution
A surgical instrument with an articulated end-effector comprising a support structure made of separate pieces articulated around a common rotation axis, featuring a blade link with elastic deformation and a counter-blade surface for mechanical interference, eliminating the need for elastic elements at the hinge and allowing precise cutting action.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If traditional needle-holder/cutter instruments are used, then cutting function is achieved, but manufacturing complexity and assembly difficulty increase significantly at micro-scale
Solution Approach 1:
The patent merges the blade and counter-blade into a single integrated end-effector component, eliminating the need for separate elastic elements and multiple parts. This integration simplifies manufacturing at micro-scale and reduces assembly complexity while maintaining the cutting function through the articulated structure's mechanical interference.
Solution Approach 2:
The articulated end-effector structure serves multiple functions: it provides both the cutting mechanism through blade interference and the gripping function through the same articulated links. This multi-functionality reduces the number of separate components needed, thereby simplifying micro-scale manufacturing and assembly.
2Reliability
If elastic elements are added at the hinge to ensure cutting interference, then cutting reliability improves, but device complexity and assembly difficulty increase
Solution Approach 1:
The patent extracts and eliminates the elastic elements from the hinge structure, instead relying on the articulated mechanism's geometric configuration and mechanical interference to ensure reliable cutting action. This removal simplifies the hinge structure and reduces assembly complexity while maintaining cutting reliability.
Solution Approach 2:
The articulated end-effector structure itself provides the cutting interference mechanism through its geometric design, without requiring external elastic elements. The structure serves itself by using the mechanical interference between blade and counter-blade, generated through the articulated motion, to ensure reliable cutting action.
3Measurement precision
If miniaturization is pursued for robotic micro-surgery, then surgical precision improves, but manufacturing inaccuracies and assembly difficulties worsen
Solution Approach 1:
By integrating multiple functions into a single end-effector component, the patent reduces the number of parts that need to be manufactured and assembled at micro-scale. This integration minimizes the accumulation of manufacturing tolerances and improves overall surgical precision despite the challenges of miniaturization.
4Adaptability or versatility
If multiple separate components are used for blade and gripping surfaces, then functional versatility is achieved, but assembly complexity increases
Solution Approach 1:
The patent combines the blade, counter-blade, and gripping surfaces into a single integrated end-effector component. This merging maintains functional versatility by allowing the articulated structure to perform both cutting and gripping operations, while significantly reducing the number of separate components and simplifying assembly.
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 enables robust, reliable, and precise cutting action with reduced assembly complexity, facilitating miniaturization and cost-effective production suitable for robotic micro-surgery.
Implementation Method 1
a blade link (30) comprising in a single piece a third proximal attachment root (31), an elastically deformable bending body and a cutting edge
Data Source
AI summary
A needle-holder/cutter type surgical instrument includes an articulated end-effector including a support structure including two prongs, a first tip link having an elongated body including an integral first proximal attachment root, a first distal free end and a first gripping surface therebetween. A second tip link has an elongated body including an integral second proximal attachment root, a second distal free end, and a second gripping surface therebetween. A blade link includes an integral third proximal attachment root, an elastically deformable bending body and a cutting edge. The blade link rotates with the first tip link. The first root, the second root, and the third root are arranged axially. A counter-blade surface rotates with the second tip link. The counter blade surface abuts against the cutting edge, bending the blade link axially, so the cutting edge and the counter-blade surface attain a mechanical interference contact to exert a cutting action.