Cable-Driven Actuation for Robotic Surgical End Effector Articulation
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Solution Overview
Problem
Current surgical instruments and robots lack efficient mechanisms for articulating end effectors and clamping/unclamping tissue with precision, which is essential for advanced surgical procedures.
Innovation Solution
The development of a robotic surgical tool attachment featuring a shaft assembly, an articulation region, and an end effector, which utilizes a cable-driven actuation system to articulate the end effector and clamp/unclamp tissue with precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a cable-driven actuation system is used to articulate the end effector and clamp/unclamp tissue, then precision and effectiveness of surgical procedures is enhanced, but device complexity increases
Solution Approach 1:
The patent replaces traditional mechanical actuation systems with a cable-driven actuation system. The cables transmit forces and motions from actuators positioned at the proximal end of the shaft assembly to the end effector at the distal end, enabling precise articulation and clamping without complex mechanical linkages throughout the entire instrument length. This substitution reduces overall mechanical complexity while maintaining precision at the critical end effector interface.
2Adaptability or versatility
If the end effector is articulated about multiple articulation axes, then versatility of surgical procedures is improved, but device complexity increases
Solution Approach 1:
The patent segments the articulation functionality by providing multiple independent articulation axes (first and second articulation axes) that can be controlled separately. Each articulation axis is driven by independent cable actuation, allowing the end effector to perform multiple functions including articulation in different directions, clamping, and cutting. This segmentation enables versatility without requiring a single complex multi-functional mechanism.
Solution Approach 2:
The end effector is designed with multiple articulation axes and functional components (clamping jaws, cutting element) that can perform multiple surgical functions. The cable-driven actuation system provides universal control capability, where the same basic cable-pulley mechanism can drive different articulation axes and functional elements, making the system adaptable to various surgical procedures including stapling, cutting, and tissue manipulation.
Data Source
AI summary
A surgical end effector assembly is disclosed. The surgical end effector assembly comprises a shaft, an end effector comprising a first jaw and a second jaw movable relative to the first jaw, and an articulation joint attaching the end effector to the shaft, wherein the articulation joint defines an articulation axis about which said end effector is articulatable relative to the shaft. The articulation joint comprises a first rotary drive member rotatable about the articulation axis and a second rotary drive member rotatable about the articulation axis, wherein the first rotary drive member and the second rotary drive member are rotatable in the same direction to articulate the end effector about the articulation axis. The surgical end effector assembly further comprises a jaw drive output cooperatively driven by the first rotary drive member and the second rotary drive member configured to clamp and unclamp tissue with the second jaw.