Continuum Instrument Drive Joints for Compact Surgical 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 limited miniaturization, especially when multiple drive wires are used, leading to increased complexity and reduced kinematic performance.
Innovation Solution
A continuum instrument design featuring a proximal and distal continuum structure with a drive connection part that includes universal coupling joints, spherical hinge joints, or hinge joints, coupled with a drive transmission mechanism using gear-barrel or worm-and-gear systems to enable bending in various directions without direct pushing and pulling of drive wires, allowing for compact and flexible operation.
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 bending capability of the continuum structure is 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 differentiable continuum structure where one drive mechanism can control multiple backbones through integrated drive connections. This reduces the number of drive mechanisms from multiple (one per drive wire) to a single unified mechanism that achieves the same bending capability.
Solution Approach 2:
The drive mechanism is designed with universal coupling joints and spherical hinge joints that enable a single drive mechanism to perform multiple functions - controlling bending in various directions across multiple continua. The drive connection part can drive the continuum to bend in any direction through the coordinated action of universal coupling and spherical hinge joints, making the system multi-functional with a single mechanism.
2Ease of operation
If a traditional rigid kinematic chain with multiple hinged joints is used, then the bending motion can be achieved, but the miniaturization of the surgical instrument is limited and kinematic performance is reduced
Solution Approach 1:
The patent replaces the traditional rigid kinematic chain with a flexible continuum structure composed of multiple flexible backbones. This flexible structure allows continuous bending deformation without the discrete hinged joints, enabling miniaturization while maintaining bending capability. The flexible backbones can deform continuously to achieve the required bending motion in a more compact form factor.
Solution Approach 2:
The continuum structure is segmented into multiple backbones (proximal and distal continua with multiple structural backbones each) that work together to achieve bending motion. This segmentation allows the structure to be both flexible and controllable, providing bending capability similar to rigid chains but in a miniaturized, flexible configuration suitable for minimally invasive surgery.
3Speed
If direct pushing and pulling of drive wires is used for actuation, then the response speed is fast, but the structural complexity increases and miniaturization is hindered
Solution Approach 1:
The patent introduces universal coupling joints and spherical hinge joints as intermediaries between the drive mechanism and the continuum backbones. These intermediary joints enable the drive mechanism to actuate the continuum in a more compact and integrated manner, reducing the complexity of direct wire pushing/pulling while maintaining fast response through the mechanical advantage of the jointed structure.
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
The solution enhances the flexibility and reliability of continuum instruments by reducing the need for multiple drive mechanisms, enabling precise and responsive bending motions, and facilitating miniaturization while maintaining structural integrity and stability.
Implementation Method 1
the drive connection part includes universal coupling joints, spherical hinge joints, or hinge joints
Implementation Method 2
the drive connection part includes universal coupling joints, spherical hinge joints, or hinge joints
Implementation Method 3
a drive transmission mechanism using gear-barrel or worm-and-gear systems
Implementation Method 4
a drive transmission mechanism using gear-barrel or worm-and-gear systems
Data Source
AI summary
A continuum instrument includes: at least one proximal continuum, at least one distal continuum, and a drive connection part. The proximal continuum comprises a proximal stop disk and a plurality of proximal structural backbones, the plurality of proximal structural backbones being fixedly connected to the proximal stop disk. The distal continuum comprises a distal stop disk and a plurality of distal structural backbones, the plurality of distal structural backbones being fixedly connected to the distal stop disk, and the plurality of distal structural backbones being fixedly connected to or integrally formed with the plurality of proximal structural backbones. The drive connection part is connected to the proximal stop disk, and an input end of the drive connection part is for driving the proximal stop disk to turn so as to drive the distal continuum to bend.