Articulating Surgical Instrument Single Cable Actuation

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Solution Overview

Problem

Current surgical robotic systems face limitations in dexterity and complexity due to the number of wires and cables required for articulating instruments, which can complicate procedures and increase instrument shaft size, while also requiring separate cables for mechanical and electrical actuation.

Innovation Solution

The use of a cable-driven mechanism with a pair of jaw members and a pulley system that allows for articulation and electrical energy delivery through a single cable, reducing the number of wires and cables needed, and incorporating a crimping mechanism for secure mechanical and electrical connections.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If separate cables are used for mechanical actuation and electrical energy delivery, then reliable actuation is achieved, but the number of cables increases and shaft diameter increases

Engineering Contradiction:

Improveactuation reliabilityVSAvoidnumber of cables

Core Design Contradiction:

ReliabilityVSQuantity of substance

Solution Approach 1:

The patent combines mechanical actuation and electrical energy delivery into a single cable assembly. The cable includes both mechanical elements (for actuation) and electrical conductors (for energy delivery) integrated within the same outer sheath, eliminating the need for separate cables and reducing overall complexity.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The single cable assembly performs multiple functions simultaneously: it provides mechanical actuation forces through embedded tendons or wires, delivers electrical energy through integrated conductors, and maintains structural integrity through its outer sheath. This multi-functional design reduces the total number of components needed.

Inventive Principle:

Principle #6Universality (Multi-functionality)

2Ease of operation

If multiple wires and cables are used for articulating instruments, then dexterity is improved, but device complexity increases

Engineering Contradiction:

Improvesurgical dexterityVSAvoidinstrument complexity

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

Multiple functional elements (mechanical actuation wires, electrical conductors, and structural support) are merged into a single integrated cable assembly. This reduces the number of discrete components that need to be managed during surgery while maintaining the dexterity required for complex articulating movements.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The cable assembly is segmented into functional zones with different properties along its length, allowing different sections to perform different functions (e.g., flexible sections for articulation, rigid sections for structural support). This segmentation enables dexterous movement while simplifying the overall design.

Inventive Principle:

Principle #1Segmentation

3Adaptability or versatility

If more cables are used to control multiple degrees of freedom, then instrument versatility is improved, but shaft diameter increases

Engineering Contradiction:

Improveinstrument versatilityVSAvoidshaft diameter

Core Design Contradiction:

Adaptability or versatilityVSLength of moving object

Solution Approach 1:

Multiple control functions for different degrees of freedom are combined within a single cable assembly. The integrated design allows multiple tendons and conductors to share the same structural envelope, preventing shaft diameter from increasing proportionally with the number of control functions.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The cable assembly uses a nested structure where smaller functional elements (individual tendons, conductors) are contained within larger structural components (outer sheath, intermediate layers). This nesting allows multiple control functions to coexist within a compact shaft diameter.

Inventive Principle:

Principle #7Nested doll (Nesting)

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 dexterity and simplifies instrument design by reducing the number of cables and shaft diameter, while ensuring reliable mechanical and electrical actuation, thereby improving surgical precision and ease of use.

Implementation Method 1

a cable-driven mechanism with a pair of jaw members and a pulley system that allows for articulation

Methodology Applied

Scientific EffectPulley: Pulley

Implementation Method 2

incorporating a crimping mechanism for secure mechanical and electrical connections

Methodology Applied

Scientific EffectCrimping: Mechanical Fastener

Data Source

PatentUS11717364B2Articulating surgical instrument

Publication Date: 2023.08.08 KARL STORZ SE & CO KG

AI summary

An electrosurgical instrument having jaws is energized and actuated using a length of cable. The cable is formed of a conductive inner portion coated with a dielectric polymer. The cable extends through a pass-through in a portion of the jaw and is crimped to create a mechanical and electrical connection between the conductive inner portion and the conductive jaw material.