Continuum Surgical Instrument Drive for Precise Multi-Directional Bending
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Solution Overview
Problem
Existing continuum structures in surgical instruments face challenges with high precision, fast response, and flexibility due to complex drive mechanisms and the need for multiple drive wires, limiting miniaturization and kinematic performance.
Innovation Solution
A continuum instrument design incorporating a proximal and distal continuum with structural backbones, a drive connection part, and a drive transmission mechanism that utilizes universal coupling joints, spherical hinge joints, and gear-based mechanisms to achieve bending in various directions without increasing the number of drive mechanisms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple drive wires are used to achieve bending in various directions, then the flexibility and adaptability of the continuum structure are improved, but the device complexity and number of drive mechanisms increase accordingly
Solution Approach 1:
The patent merges multiple drive functions into a single drive mechanism by using a universal coupling joint that can drive multiple backbones simultaneously. Instead of having separate drive mechanisms for each drive wire, one drive mechanism controls multiple backbones through the universal coupling joint, reducing the total number of drive mechanisms while maintaining the ability to bend in various directions.
Solution Approach 2:
The universal coupling joint serves as a multi-functional component that can accommodate and drive multiple backbones from different directions. This universal component allows a single drive mechanism to perform multiple driving functions, enabling the continuum structure to achieve flexible bending in various directions without proportionally increasing the number of drive mechanisms.
2Ease of manufacture
If a traditional rigid kinematic chain with hinged joints is used, then the structure is simple and easy to manufacture, but the miniaturization and kinematic performance cannot be further improved
Solution Approach 1:
The patent replaces the traditional rigid hinged joint structure with a flexible continuum structure composed of multiple backbones connected by universal coupling joints. This flexible structure allows for continuous bending deformation rather than discrete angular movements, enabling better miniaturization while maintaining smooth kinematic performance and precise control.
3Measurement precision
If the number of drive mechanisms is increased to satisfy stricter requirements for high precision and fast response, then the bending precision and response speed are improved, but the structure becomes more complex
Solution Approach 1:
The universal coupling joint acts as an intermediary mechanism that translates the motion from a single drive mechanism into coordinated motion of multiple backbones. This intermediary component enables high precision bending control by distributing the driving force appropriately among multiple backbones, achieving fast response and high precision without requiring a proportional increase in the number of drive mechanisms.
Data Source
AI summary
A continuum instrument includes at least one proximal continuum, at least one distal continuum, a drive connection part and a drive transmission mechanism. The proximal continuum comprises a proximal base disk, a first proximal stop disk, a second proximal stop disk, a plurality of proximal structural backbones, and drive backbones, the drive backbones being separately fixedly connected to the second proximal stop disk and the proximal base disk. The distal continuum comprises a distal stop disk and a plurality of distal structural backbones, the distal structural backbones being connected to or integrally formed with the proximal structural backbones. An output end of the drive transmission mechanism is connected to an input end of the drive connection part, and is used for driving the input end such that the second proximal stop disk and the first proximal stop disk turn to drive the distal continuum to bend.