Chain Articulation End Effector for 90-Degree Rotation
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Solution Overview
Problem
Existing endoscopic surgical cutting staplers are limited by a pivot pin articulation, restricting the joint rotation angle to no more than 40°, which makes it difficult to align the end effector with tissue for cutting and stapling, and results in a small radius of curvature that affects the stapler's ability to clamp and staple effectively.
Innovation Solution
A chain articulation system with multiple stages of chain plates and pivot pins, where teeth on adjacent chain plates engage to multiply the angle of rotation, allowing the end effector to achieve a 90° rotation with minimal displacement and increased curvature, enabling precise alignment and effective tissue handling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a pivot pin articulation is used to connect the end effector and extension tube, then the structure is simple, but the joint rotation angle is restricted to no more than 40° and the radius of curvature is small
Solution Approach 1:
The articulation system is divided into multiple chain plates (first chain plate, second chain plate, third chain plate, fourth chain plate) connected by pivot pins, forming a segmented chain structure. Each chain plate can rotate relative to adjacent plates, enabling cumulative rotation angles that exceed 40° while maintaining structural simplicity.
Solution Approach 2:
The invention transitions from a single pivot pin rotation to a multi-stage chain articulation system that adds rotational degrees of freedom across multiple dimensions. The chain plates are arranged in sequences that allow rotation in different planes, increasing the overall rotation angle and radius of curvature.
2Device complexity
If the joint rotation angle is limited to 40° to maintain structural simplicity, then the articulation structure remains simple, but the end effector cannot be aligned with tissue for effective cutting and stapling
Solution Approach 1:
The chain articulation system provides dynamic adjustability, allowing the end effector to achieve various rotation angles (up to 90° or more) by coordinating the rotation of multiple chain plates. This dynamic capability enables precise alignment with tissue while maintaining a relatively simple overall structure.
Solution Approach 2:
The chain plates are nested in a sequential arrangement where each plate is connected to the next through pivot pins, creating a compact nested structure. This nesting allows the system to achieve large rotation angles while maintaining a compact form factor that does not significantly increase device complexity.
3Volume of moving object
If a small radius of curvature is used in the articulation, then the structure is compact, but the stapler's ability to clamp and staple tissue is affected
Solution Approach 1:
By segmenting the articulation into multiple chain plates with individual rotation capabilities, the system achieves an effective large radius of curvature through the cumulative motion of segments. This allows the compact structure to produce smooth, large-radius bending paths that are suitable for reliable tissue clamping and stapling.
Data Source
AI summary
An endoscopic surgical cutting stapler with a chain articulation is provided, in which a joint is implemented by a chain articulation, teeth are provided at two ends of a chain plate of the chain articulation, and teeth of adjacent chain plates in the same row are engaged. Through mesh transmission of engaged teeth of the adjacent chain plates in the same row, an angle of a most proximal chain plate of the chain articulation is gradually multiplied at several stages and transmitted to an end effector. The end effector can rotate for 90° with small drive motion of the operating mechanism, thereby achieving precise placement of the chain articulation after rotation. The end effector can be precisely aligned with a part to be cut and stapled, and a radius of curvature of the chain articulation can be significantly increased.