Cord-Driven Surgical Forceps for Independent Joint Control
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Solution Overview
Problem
Existing methods for driving surgical devices in master-slave robots involve complex mechanisms that decelerate the rotating force of motors via gears, making the system cumbersome.
Innovation Solution
A surgical device with a simplified structure using cords (wires) to transmit driving force from outside, allowing independent rotation of joints and enabling bending and opening/closing movements of grasping portions through a system of drive elements, pulleys, and guide rollers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a complex mechanism with gears is used to transmit driving force, then the surgical device can be driven reliably, but the device complexity increases and the mechanism becomes cumbersome
Solution Approach 1:
The patent replaces the traditional mechanical gear transmission system with a cable-driven mechanism. Cables (flexible elements) are used to transmit driving force directly from actuators to the forceps device, eliminating the need for complex gear deceleration mechanisms. This substitution maintains reliable force transmission while significantly reducing mechanical complexity and making the system less cumbersome.
2Ease of operation
If multiple cords are used to enable independent joint rotation, then the ease of operation improves, but the device complexity increases
Solution Approach 1:
The patent divides the control system into separate independent cords for each degree of freedom. Each cord is responsible for controlling a specific joint or movement of the forceps device, allowing independent control of bending and grasping motions. This segmentation enables precise and intuitive operation while the modular cord architecture actually simplifies the overall system compared to integrated mechanical linkages.
Data Source
AI summary
A surgical device includes a forceps device that performs a bending movement and opening and closing movements of grasping portions of the forceps device, driven portions to which a driving force is transmitted from outside the surgical device, and plural cords, each being fixed to one of the driven portions, the cords transmitting movements of the driven portions to the forceps device. The forceps device performs one or both of the bending movement and the opening and closing movements when all or a portion of the cords are pulled.