Articulating Medical Stapler Wrist With Decoupled Firing Control
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Solution Overview
Problem
Existing medical staplers lack the ability to provide multiple degrees of freedom at an articulating wrist, which limits their effectiveness in robotic medical procedures, particularly in minimally invasive surgeries where precise movement and control are crucial.
Innovation Solution
The development of a medical stapler with an articulating wrist that allows for at least two degrees of freedom, decoupled from the firing mechanism, and incorporates a pair of push shafts to drive actuation, enabling enhanced control and precision in tissue transection and sealing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a medical stapler is designed with only one degree of freedom, then the device complexity is reduced and ease of manufacture is improved, but the adaptability for robotic medical procedures and precision control are worsened
Solution Approach 1:
The instrument is divided into functionally independent segments: the wrist assembly providing at least two degrees of freedom for positioning, and the firing mechanism for staple formation. This segmentation allows the wrist to articulate independently from the firing action, enabling complex positioning without requiring the entire device to be overly complex. The decoupling of wrist movement from firing mechanism actuation resolves the contradiction by allowing high adaptability at the wrist while maintaining manageable overall device complexity through modular design.
Solution Approach 2:
The wrist assembly incorporates at least two degrees of freedom, transforming the device from a static or single-axis instrument to a dynamically articulated tool. This dynamic capability allows the end effector to reach complex positions and orientations in three-dimensional space, significantly improving adaptability for robotic medical procedures. The dynamic wrist design maintains manageable complexity through standardized mechanical joints and actuation mechanisms.
2Manufacturing precision
If the firing mechanism is coupled to the wrist movement, then the device complexity is reduced, but the precision and control during tissue transection are worsened
Solution Approach 1:
The firing mechanism is extracted and decoupled from the wrist movement system. The wrist assembly provides positioning freedom with at least two degrees of freedom, while the firing mechanism is actuated independently through separate push shafts. This extraction ensures that wrist articulation does not interfere with firing precision, and firing action does not constrain wrist movement. The independent actuation systems maintain manageable device complexity while achieving high precision in tissue transection through stable, controlled firing independent of wrist position.
Solution Approach 2:
Independent push shafts serve as intermediary actuation elements between the operator's control inputs and the firing mechanism. These push shafts transmit firing forces directly to the staple formation mechanism without being coupled to wrist movement. This intermediary design isolates the precision-critical firing action from the positioning functions of the wrist, ensuring that small variations in wrist position or movement do not affect firing precision, while maintaining overall device simplicity through straightforward mechanical transmission.
3Ease of operation
If multiple push shafts are used to drive the firing mechanism, then the ease of operation is improved, but the device complexity increases
Solution Approach 1:
The actuation system is segmented into multiple independent push shafts, each responsible for specific firing functions. This segmentation allows for distributed control where each push shaft can be actuated independently, providing nuanced control over the firing mechanism. The segmented design improves ease of operation by allowing selective engagement of different firing modes or sequences, while the modular nature of individual push shafts keeps the overall device complexity manageable through standardized components and independent actuation pathways.
Data Source
AI summary
Certain aspects relate to systems and techniques for articulating medical instruments. In one aspect, the instrument includes a wrist having at least two degrees of freedom of movement, and an end effector coupled to the wrist. The end effector can include an upper jaw, a lower jaw, and a firing mechanism configured to form staples in tissue. Actuation of the firing mechanism can be decoupled from the movement of the wrist in the at least two degrees of freedom.