Articulating Ultrasonic End Effector for Precise Surgical Navigation
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Solution Overview
Problem
Existing ultrasonic surgical instruments face limitations in navigating within the surgical site due to restricted rotation and manipulation capabilities, despite incorporating 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 and clamp arm 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 ability to orient the ultrasonic end effector is improved, but the ability to navigate within the surgical site remains limited
Solution Approach 1:
The instrument is divided into multiple articulation segments including a proximal articulation link, distal articulation link, and transducer assembly, each capable of independent movement. This segmentation allows the instrument to navigate complex surgical sites by articulating at multiple joints rather than relying on a single rotation mechanism
Solution Approach 2:
The instrument incorporates dynamic articulation capabilities that allow real-time adjustment of the end effector's position and orientation. The articulation assembly enables the distal end to move relative to the proximal end through coordinated activation of articulation cables, providing adaptive navigation within the surgical site
2Device complexity
If the transducer remains external to the surgical site, then the ultrasonic energy transmission is simplified, but the navigation and positioning within the surgical site is limited
Solution Approach 1:
The transducer assembly is nested within the distal portion of the instrument, positioned inside the articulation assembly. This nested configuration allows the transducer to be integrated into the articulated structure, enabling both deep positioning within the surgical site and maintained simplicity of ultrasonic energy transmission through the waveguide to the end effector
3Ease of operation
If articulation capabilities are enhanced, then the navigability and positioning precision are improved, but the device complexity increases
Solution Approach 1:
The articulation cables serve multiple functions: they control the articulation of the proximal link, the articulation of the distal link, and the positioning of the transducer assembly. This multi-functionality reduces the need for separate control mechanisms for each articulation degree of freedom, thereby managing device complexity while enhancing positioning precision
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 provides improved navigability and positioning of the ultrasonic blade and clamp arm, reducing dead space and enabling more precise tissue treatment through enhanced articulation capabilities.
Implementation Method 1
ultrasonic energy produced by the ultrasonic transducer is transmitted along the waveguide to the ultrasonic blade for treating tissue
Implementation Method 2
The ultrasonic transducer includes at least one piezoelectric element and at least one electrode
Data Source
Figure 1
Figure 2
Figure 3~4
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.