Detachable End Effectors for Modular Surgical Devices
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Solution Overview
Problem
Current surgical instruments face challenges in performing complex procedures within the limited space of the gastrointestinal tract due to size constraints imposed by traditional endoscope working channels, limiting articulation and control of distal ends, and requiring frequent exchange of end effectors through these channels.
Innovation Solution
A modular surgical device with interchangeable end effectors that can be remotely and selectively attached to a shaft within the body, using various engagement mechanisms such as threads, magnets, and anti-rotation features, allowing for multiple procedures without the need to remove the shaft or exchange effectors through the endoscope, enabling independent articulation and control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If end effectors are passed through the working channel of an endoscope, then the instrument can be controlled and articulated at the distal end, but the size of the end effector is limited by the diameter of the working channel
Solution Approach 1:
The system divides the surgical instrument into two separate components: a control shaft that remains outside the body and an end effector that is delivered independently to the surgical site. This segmentation allows the end effector to be sized independently of the shaft, enabling larger tools to reach distal locations without being constrained by the shaft's diameter.
Solution Approach 2:
The patent introduces a delivery catheter as an intermediary device that transports the end effector to the surgical site independently of the control shaft. The catheter serves as a temporary conduit that allows the end effector to be positioned at the distal end without requiring the shaft to be of matching small diameter, thus resolving the size constraint.
2Volume of moving object
If accessory channels with steering mechanisms are used to provide articulation independent of a working channel, then the tool can be larger, but the size of the tool cannot exceed the diameter of the body lumen less the diameter of the endoscope
Solution Approach 1:
The system separates the articulation control function (located in the shaft outside the body) from the end effector (delivered to the surgical site). This allows the end effector to be sized based on surgical requirements rather than being constrained by delivery channel dimensions, while articulation control is maintained through the separate shaft mechanism.
3Adaptability or versatility
If multiple end effectors are exchanged through the working channel of an endoscope, then various surgical procedures can be performed, but frequent removal and reinsertion of the endoscope is required
Solution Approach 1:
Multiple end effectors are pre-positioned within the body at or near the surgical site before the surgical procedure begins. The shaft can then selectively engage different pre-positioned end effectors as needed, eliminating the need to repeatedly remove and reinsert the endoscope for instrument exchange.
Solution Approach 2:
The shaft is designed with a universal engagement mechanism that can interface with multiple different types of end effectors. This multi-functional capability allows a single shaft to perform various surgical procedures by engaging different pre-positioned end effectors, providing versatility without requiring frequent endoscope removal.
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
Enables flexible and efficient performance of multiple surgical procedures within the body without size constraints, allowing for independent attachment and detachment of end effectors, improving control and reducing the need for frequent instrument exchange, thus enhancing surgical versatility and efficiency.
Implementation Method 1
The magnet on the shaft and the magnet on at least one of the plurality of end effectors are adapted to magnetically align with one another in a predetermined orientation
Implementation Method 2
In another embodiment, the engagement mechanism can be a magnet formed on the distal end of the shaft and adapted to magnetically engage a magnet formed on at least one of the plurality of end effectors
Data Source
AI summary
Methods and devices are provided for performing various procedures using interchangeable end effectors. In general, the methods and devices allow a surgeon to remotely and selectively attach various interchangeable surgical end effectors to a shaft located within a patient's body, thus allowing the surgeon to perform various procedures without the need to remove the shaft from the patient's body. In an exemplary embodiment, multiple end effectors can be introduced into a body cavity. The end effectors can be disassociated or separate from one another such that they float within the body cavity. A distal end of a shaft can be positioned within the body cavity and it can be used to selectively engage one of the end effectors. In particular, the device can be configured to allow each end effector to be remotely attached and detached from the distal end of the shaft.