Cable-Driven Articulating Surgical End Effector for Long-Shaft Control
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Solution Overview
Problem
Existing robotic surgical systems face challenges in providing enhanced maneuverability and ease of use during minimally invasive procedures, particularly in navigating complex anatomical pathways and reducing the need for awkward arm motions by surgeons.
Innovation Solution
A robotic system with bifurcating jaws and cable-based actuation systems, allowing for enhanced articulation and control of surgical instruments, including separate instrument drivers for independent manipulation of telescoping parts, and a modular design for sterilization and ease of use.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If robotic systems with motors and actuators are used to articulate the end effector, then the degrees of freedom in movement are improved, but the device complexity increases
Solution Approach 1:
The patent replaces complex motorized actuators with a cable-driven mechanical system. The cable assembly with tensioning members and pulleys provides articulated movement through pure mechanical advantage, eliminating the need for motors and sensors at the distal end while maintaining multiple degrees of freedom through the wrist joint configuration
Solution Approach 2:
The cable assembly acts as an intermediary mechanism that translates proximal actuation forces into distal articulation movements. The system uses cable tensioning members and pulleys as intermediaries to achieve complex end effector positioning without direct motorization at the target location
2Length of moving object
If the end effector is separated from the handle by a long shaft, then minimally invasive access is improved, but the ease of operation deteriorates
Solution Approach 1:
The patent introduces a wrist joint that adds rotational degrees of freedom perpendicular to the shaft axis. This allows the end effector to articulate in multiple dimensions, enabling the surgeon to reach around obstacles and access anatomical structures that would be impossible to reach with a purely linear shaft configuration
Solution Approach 2:
The system transitions from a static, rigid shaft to a dynamic, articulated structure. The cable-driven mechanism allows real-time adjustment of end effector orientation and position, providing adaptability to different surgical scenarios while maintaining the long shaft configuration for minimally invasive access
3Adaptability or versatility
If multiple instruments and tools are introduced through small incisions, then the therapeutic capability is improved, but the clutter and difficulty of operation increase
Solution Approach 1:
The end effector is designed as a multi-functional assembly that can perform multiple surgical tasks including grasping, cutting, and stapling through a single instrument platform. The interchangeable cartridge system allows different functional modules to be attached to the same shaft and wrist assembly, reducing the number of separate instruments needed
Solution Approach 2:
The patent combines the shaft, wrist joint, and end effector into an integrated assembly that functions as a single coordinated unit. The cable-driven actuation system merges multiple control functions into a unified mechanism that can be operated from the handle, reducing the complexity of coordinating multiple separate instruments
Data Source
AI summary
A robotic surgical tool includes an elongate shaft, an end effector coupled to the shaft and including a first jaw with a first jaw extension and a second jaw with a second jaw extension. Drive members extend along the shaft, and an articulable wrist interposes the end effector and the shaft. The wrist includes a proximal clevis, a distal clevis rotatably coupled to the proximal clevis, first and second pulleys rotatably mounted to the distal clevis, and a linkage mounted to and encircling the first and second jaws, the linkage including a first linkage portion providing a first lateral arm receivable within a first groove defined in the first jaw, and a second linkage portion providing a second lateral arm receivable within a second groove defined in the second jaw.