Articulating Waveguide Support for Precise Ultrasonic Tissue Cutting
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Solution Overview
Problem
Existing surgical instruments, particularly those used in robotically-assisted surgeries, face challenges in achieving precise cutting and coagulation of tissue with ultrasonic blades, and there is a need for improved ergonomic and radiation-free navigation systems for medical professionals.
Innovation Solution
The development of a robotic surgical system with a table-based design that incorporates ultrasonic surgical instruments featuring an elongated shaft assembly and articulating waveguide support, allowing for enhanced tissue cutting and coagulation, along with non-radiation-based navigation using pre-operative mapping, computer vision, and electromagnetic tracking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If traditional ultrasonic surgical instruments are used with fixed waveguide support, then the structure is simple, but the precision of tissue cutting and coagulation is insufficient
Solution Approach 1:
The waveguide support arrangement is designed to be articulating rather than fixed, allowing dynamic adjustment of the waveguide position and orientation. This enables precise alignment of the ultrasonic blade with tissue targets while accommodating various surgical angles and positions, thereby improving cutting and coagulation precision without requiring an overly complex rigid structure.
Solution Approach 2:
The waveguide support arrangement is divided into multiple articulating segments that can independently adjust position and orientation. This segmentation allows each portion to be optimized for specific functions (e.g., positioning, angling, stabilization) while maintaining overall structural manageability and precision control.
2Measurement precision
If robotically-assisted surgery is used with conventional instruments, then surgical precision is improved, but the surgeon experiences awkward arm motions and potential radiation exposure
Solution Approach 1:
The patent replaces radiation-based navigation and positioning systems with non-radiation alternatives such as electromagnetic tracking and pre-operative mapping. This substitution eliminates radiation exposure for both surgeon and patient while maintaining precise navigation and instrument positioning capabilities through optical and electromagnetic fields.
Solution Approach 2:
The patent introduces an intermediary navigation system using electromagnetic tracking and computer vision to mediate between the robotic control system and the surgical instrument. This intermediary layer provides precise positioning feedback without requiring the surgeon to perform awkward manual arm motions, as the robotic system autonomously positions instruments based on navigation data.
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 system provides precise tissue cutting and coagulation capabilities while reducing the need for awkward arm motions and minimizing radiation exposure, enhancing the ease of use and safety for medical professionals during procedures like laparoscopy, ureteroscopy, and bronchoscopy.
Implementation Method 1
These instruments include one or more piezoelectric elements that convert electrical power into ultrasonic vibrations, which are communicated along an acoustic waveguide to the blade element
Implementation Method 2
the end effector of the surgical instrument includes a blade element that vibrates at ultrasonic frequencies to cut and/or seal tissue (e.g., by denaturing proteins in tissue cells)
Implementation Method 3
cut and/or seal tissue (e.g., by denaturing proteins in tissue cells)
Implementation Method 4
non-radiation-based navigation using pre-operative mapping, computer vision, and electromagnetic tracking
Data Source
AI summary
An ultrasonic surgical instrument includes an end effector having an ultrasonic blade, an ultrasonic transducer assembly, and a shaft assembly. The shaft assembly includes a tube, and an waveguide. The waveguide is received within the tube and is acoustically connected between the ultrasonic blade and ultrasonic transducer assembly to communicate ultrasonic vibrations from the ultrasonic transducer assembly to the ultrasonic blade. The waveguide includes an acoustic body, a first isolation structure, a second isolation structure and a sheath. The acoustic body extends along a longitudinal axis. The first isolation structure radially extends about the acoustic body. The second isolation structure radially extends about the acoustic body and is longitudinally spaced from the first isolation structure. The sheath is radially positioned between the first isolation structure and the tube and is further radially positioned between the second isolation structure.