Cable-Driven Surgical Stapler with Dual Distal Pulleys
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Solution Overview
Problem
Minimally invasive surgical techniques face challenges in providing precise mechanical actuation and control of surgical instruments, especially in remote or teleoperated surgical systems, which can limit the surgeon's dexterity and accuracy during procedures.
Innovation Solution
A surgical instrument with a jaw assembly, slider beam, and coaxial pulleys that allow for two degrees of freedom wrist movement, enabling precise longitudinal and rotational forces to be imparted to the slider beam, facilitating the manipulation of surgical tools like staplers through a combination of pitch and slider cables.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If teleoperated surgical systems are used to allow remote operation, then surgeon accessibility and patient comfort are improved, but surgical precision and dexterity are reduced
Solution Approach 1:
The patent replaces direct mechanical control with cable-driven actuation systems that transmit forces through flexible cables to the distal end effectors. This substitution allows remote operation while maintaining precision through cable tension control and mechanical advantage systems.
Solution Approach 2:
The patent introduces intermediary mechanical elements including pulleys, cables, and linkage mechanisms that mediate between the operator's input and the surgical instrument's action. These intermediaries transmit and transform forces to maintain surgical precision despite remote operation.
2Measurement precision
If complex cable-driven mechanisms are added to improve precision, then surgical instrument control is enhanced, but device complexity increases
Solution Approach 1:
The patent combines multiple functions into integrated cable systems that simultaneously control both pitch and slider movements. The cable-driven mechanism merges force transmission and motion control functions, reducing the number of separate components needed.
Solution Approach 2:
The patent designs universal cable-driven mechanisms that can perform multiple functions including force application, motion control, and positioning. The same cable system controls both the pitch axis and slider beam, providing multi-functionality without requiring separate dedicated mechanisms for each function.
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
Enhances the precision and dexterity of teleoperated surgical systems by allowing for precise control of surgical instruments, improving the ability to perform tasks such as stapling and tissue manipulation with reduced tissue damage and faster recovery times.
Implementation Method 1
first and second distal jaw-mounted coaxial pulleys rotatably mounted to a distal portion of the jaw assembly... first and second pitch axis pulleys rotatable about a pitch axis
Data Source
AI summary
A surgical instrument comprising: a jaw assembly; a slider beam; first and second distal jaw-mounted coaxial pulleys rotatably mounted to a distal portion of the second assembly; a two degree of freedom wrist that includes first and second pitch axis pulleys rotatable about a pitch axis and that includes a yaw pulley rotatable about a yaw axis; a first cable that is secured to the slider beam, that wraps about the first distal jaw-mounted pulley and that extends parallel to the jaw assembly to opposite sides of the first pitch axis pulley; a second cable that is secured to the slider beam, that wraps about the second distal jaw-mounted pulley and that extends parallel to the second jaw assembly to opposite sides of the second pitch axis pulley; and at least one yaw cable wrapped about at least a portion of the yaw pulley.