Counter-Pivoting Instrument Articulation Linkage for Strength
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Solution Overview
Problem
There is a need for mechanically robust articulation mechanisms and systems that impart articulation, such as counter pivoting articulation, to instruments, particularly in minimally invasive medical applications, while ensuring manufacturability, serviceability, and reliability, and providing sufficient strength and durability with small dimensions.
Innovation Solution
The articulation mechanism includes a first and second link pivotably coupled to a proximal and distal portion of the instrument, with actuation elements laterally offset from their respective pivot axes, allowing coordinated rotation to translate the distal portion in multiple degrees of freedom, and utilizing actuation elements that do not extend distally past the articulation mechanism.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If actuation elements extend distally through the articulation mechanism, then the mechanism can provide articulation movement, but the strength and resistance to interference are reduced
Solution Approach 1:
The actuation elements are extracted from the distal portion of the articulation mechanism and terminated at the proximal portion. This removal of the actuation elements from the distal region eliminates the weakness and interference issues while preserving the articulation function through the linkage mechanism's mechanical advantage.
2Volume of moving object
If the articulation mechanism is made compact, then space is saved for minimally invasive procedures, but manufacturing complexity increases
Solution Approach 1:
The articulation mechanism is segmented into distinct modular components: proximal linkage assembly, distal linkage assembly, and actuation elements. Each module can be manufactured separately with standardized interfaces, reducing overall manufacturing complexity while enabling a compact integrated design suitable for minimally invasive procedures.
3Adaptability or versatility
If multiple instruments are introduced through a single incision, then minimally invasive access is achieved, but working room for each instrument is limited
Solution Approach 1:
The articulation mechanism enables instruments to operate in an additional spatial dimension by providing lateral offset movement of the distal portion relative to the longitudinal axis. This allows multiple instruments introduced through a single incision to be spaced apart laterally, creating sufficient working room while maintaining minimally invasive access.
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
This design provides increased strength, resistance to interference, and compact packaging, enabling instruments to handle higher loads and maintain precise orientation of end effectors, suitable for minimally invasive procedures.
Implementation Method 1
The first actuation element is laterally offset from the first pivot axis such that actuation of the first actuation element creates a moment to rotate the first link about the first pivot axis
Data Source
AI summary
An articulation mechanism comprises a first link pivotably coupled at a first location radially offset in a first direction from a longitudinal axis, and to the distal portion at a second location radially offset in the first direction from the longitudinal axis. A first actuation element is configured to rotate the first link about a first axis at the first location and thereby cause rotation of the first link about a second axis at the second location. A second link is pivotably coupled at a third location radially offset in a second direction, opposite the first direction, from the longitudinal axis, and at a fourth location radially offset in the second direction from the longitudinal axis. A second actuation element configured to rotate the second link about a third axis extends through the third location and thereby causes rotation about a fourth axis extending through the fourth location.