Compact Transmission Assembly for Instrument Insertion Drive

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Solution Overview

Problem

Existing transmission assemblies in remotely-controlled instruments face challenges in achieving a compact and simple architecture for the insertion degree of freedom of motion while effectively transmitting drive forces, particularly due to complexities arising from relative translation between the instrument shaft and transmission assembly, interference among actuation elements, and issues with slack in flexible pulling members.

Innovation Solution

The transmission assembly incorporates a drive member with multiple actuation transfer mechanisms that simultaneously actuate pullable actuation elements in opposite directions, uses pushable actuation elements coupled via flexible pulling members, and employs bearing mechanisms on drive shafts to redirect actuation elements, allowing for a compact design that prevents slack and interference.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If the transmission assembly uses flexible pulling members to transmit drive forces, then the instrument can achieve greater flexibility and ease of operation, but slack and interference among actuation elements occur reducing reliability

Engineering Contradiction:

ImproveflexibilityVSAvoidactuation element tension

Core Design Contradiction:

Ease of operationVSReliability

Solution Approach 1:

The patent employs pairs of pullable actuation elements that function as counterweights to each other. When one element is pulled to drive insertion, the other element is simultaneously paid out, maintaining tension balance and preventing slack in the flexible pulling members throughout the motion range.

Inventive Principle:

Principle #8Anti-weight (Counterweight)

Solution Approach 2:

The transmission assembly pre-tensions the flexible pulling members before operation begins. The actuation elements are configured and positioned such that tension is maintained from the start of operation, eliminating the need to deal with slack during actual use and ensuring immediate reliable actuation.

Inventive Principle:

Principle #10Preliminary action

2Adaptability or versatility

If the transmission assembly drives insertion by relative translation between shaft and assembly, then the degree of freedom of motion is achieved, but complex architecture and interference among actuation elements result

Engineering Contradiction:

Improveinsertion degree of freedomVSAvoidtransmission assembly architecture

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent combines multiple functions into the transmission assembly structure itself. The actuation elements are routed through and anchored to the transmission assembly housing, which simultaneously serves as the drive mechanism for insertion and as the structural framework, eliminating the need for separate guidance mechanisms and reducing overall complexity.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The actuation elements are routed through three-dimensional space within the transmission assembly in a carefully designed path that avoids interference. By utilizing vertical and radial dimensions rather than only linear paths, the design accommodates multiple actuation elements without collision while maintaining a compact architecture.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

3Adaptability or versatility

If multiple actuation elements are routed through the transmission assembly, then multiple degrees of freedom are controlled, but interference and routing complexity increase

Engineering Contradiction:

Improvemultiple degrees of freedomVSAvoidactuation element routing

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The transmission assembly is divided into distinct routing zones and compartments that separate different actuation elements. Each actuation element has its dedicated path through the housing with isolated anchor points, preventing interference while allowing multiple degrees of freedom to be controlled independently through the same transmission assembly structure.

Inventive Principle:

Principle #1Segmentation

Data Source

PatentUS20250288379A1Transmission assembly for driving instrument insertion, and related devices, systems, and methods

Publication Date: 2025.09.18 INTUITIVE SURGICAL OPERATIONS INC

AI summary

A medical instrument comprises an instrument shaft, a first movable component coupled to the instrument shaft, a first actuation element coupled to the instrument shaft, second and third actuation elements, and a transmission assembly movably coupled to the instrument shaft. The transmission assembly comprises a first drive member coupled to the actuation elements and rotatable to drive translation of the instrument shaft relative to the transmission assembly, and second drive member comprising a rotatable drive shaft and first and second actuation transfer mechanisms coupled to the rotatable drive shaft. The second actuation element is coupled to the first actuation transfer mechanism and the third actuation element is coupled to the second actuation transfer mechanisms such that the second drive member actuates the second and third actuation elements in opposite directions as one another to drive a first degree of freedom of motion of the first movable component.