Articulating Ultrasonic End Effectors for Tight-Space Tissue Access
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Solution Overview
Problem
Ultrasonic surgical instruments face limitations in navigating within a surgical site due to restricted rotation and manipulation capabilities, even with incorporated rotation features.
Innovation Solution
The development of articulating ultrasonic surgical end effectors with a transducer assembly pivotably coupled to a clevis, utilizing a pulley and cable arrangement to enable pivoting and articulation, allowing for enhanced navigation and positioning of the ultrasonic blade relative to the surgical site.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If rotation features are incorporated into ultrasonic surgical instruments, then the orientation capability of the ultrasonic end effector is improved, but the navigation capability within the surgical site remains limited
Solution Approach 1:
The ultrasonic surgical instrument is divided into multiple articulation segments including a proximal articulation link, distal articulation link, and transducer assembly that can pivot independently. This segmentation allows each segment to contribute to the overall navigation capability, enabling the end effector to reach complex positions and orientations within the surgical site that cannot be achieved with simple rotation features alone
Solution Approach 2:
The instrument incorporates dynamic articulation mechanisms that allow the end effector to change its configuration during surgery. The pulley and cable arrangement enables smooth transitions between different articulation positions, allowing the surgeon to dynamically adjust the position and orientation of the ultrasonic blade to access difficult-to-reach tissue areas
2Device complexity
If the transducer is positioned externally with a waveguide extending into the surgical site, then the ultrasonic energy transmission is simplified, but the ability to navigate within the surgical site is limited
Solution Approach 1:
The transducer assembly is positioned at the distal end of the instrument, moving the ultrasonic energy source from the external position into the surgical site. This dimensional change allows the transducer to be positioned closer to the target tissue, improving navigation capability while maintaining effective ultrasonic energy transmission through the integrated waveguide
3Ease of operation
If rotation and manipulation features are added to ultrasonic surgical instruments, then the orientation control is improved, but dead space is reduced only partially
Solution Approach 1:
The multi-segment articulation design allows the instrument to navigate around obstacles and access tight spaces by bending at multiple joints. This segmentation enables the end effector to reach positions with minimal dead space by positioning each segment strategically, reducing the overall volume occupied by the instrument while maintaining orientation control
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 articulating design enhances the ability to maneuver the ultrasonic blade and clamp arm within the surgical site, reducing dead space and improving the precision and effectiveness of tissue treatment.
Implementation Method 1
The ultrasonic transducer includes at least one piezoelectric element and at least one electrode
Implementation Method 2
a transducer configured to produce and transmit mechanical vibration energy at ultrasonic frequencies along a waveguide to an ultrasonic end effector
Data Source
AI summary
An articulating ultrasonic surgical end effector for use with a hand-held surgical instrument or a robotic surgical system includes an articulation assembly, a clevis operably coupled to the articulation assembly, and a transducer assembly pivotably coupled to the clevis. The transducer assembly includes a transducer housing and an ultrasonic transducer and a waveguide disposed within the transducer housing. The waveguide is coupled to the ultrasonic transducer and extends distally from the ultrasonic transducer. The transducer assembly also includes an ultrasonic blade disposed at the distal end of the waveguide and extending from the transducer housing and a clamp arm pivotably coupled to the transducer housing and movable relative to the ultrasonic blade between an open position and a clamping position. Ultrasonic energy produced by the ultrasonic transducer is transmitted along the waveguide to the ultrasonic blade for treating tissue.