Diagonal Gear Coupling for Robotic Surgical Instrument Articulation
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Solution Overview
Problem
The design of surgical instruments for robotic surgical systems is constrained by the limited number and type of inputs provided by the robotic arm, necessitating innovative articulation mechanisms to achieve desired functionality.
Innovation Solution
An articulation assembly with diagonally-opposed gear assemblies and coupling gears that amplify or attenuate inputs, coupled with lead screws and collars to translate and tension articulation cables, allowing for precise articulation of the end effector assembly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a robotic arm with limited inputs is used to operate surgical instruments, then the system simplicity and ease of operation are improved, but the functionality and articulation capability of the surgical instrument are constrained
Solution Approach 1:
The articulation assembly is divided into multiple independent gear assemblies (first, second, third, and fourth gear assemblies) that can be individually controlled. Each gear assembly handles specific articulation movements, allowing the system to achieve complex end effector positioning through coordinated operation of segmented components driven by limited robotic arm inputs
Solution Approach 2:
The gear assemblies are configured to perform multiple functions through different input combinations. The same gear assemblies can produce various articulation movements (pitch, yaw, roll) depending on which inputs are activated, enabling a single mechanical structure to provide diverse articulation capabilities with minimal inputs
2Measurement precision
If multiple gear assemblies and coupling gears are used to achieve precise articulation, then the articulation precision and end effector control are improved, but the device complexity and manufacturing difficulty increase
Solution Approach 1:
The gear assemblies are arranged in an asymmetric diagonal configuration rather than a symmetric pattern. The first and third gear assemblies are coupled together, as are the second and fourth, creating an asymmetric layout that optimizes the transmission of articulation movements while reducing the number of coupling components needed compared to a symmetric arrangement
Solution Approach 2:
Diagonally-opposed gear assemblies are merged into functional pairs through coupling gears. The first coupling gear merges the output of the first and third gear assemblies, while the second coupling gear merges the second and fourth gear assemblies. This merging reduces the total number of independent control paths needed while maintaining precise articulation capability
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 efficient and accurate articulation of surgical instruments, facilitating precise movement and operation of end effectors, such as jaw members, through the use of a robotic arm with minimal inputs.
Implementation Method 1
each of the first, second, third, and fourth proximal gear assemblies includes a gear shaft defining an output, and a spur gear engaged about the gear shaft. The first coupling gear is disposed in meshed engagement with the spur gear of the first and third proximal gear assemblies
Implementation Method 2
each of the first, second, third, and fourth distal gear assemblies includes a lead screw and a collar operably engaged about the lead screw such that rotation of the lead screw translates the collar to provide the output
Data Source
AI summary
An articulation assembly for a surgical instrument, surgical instrument including the same, and robotic surgical system including a surgical robot and the surgical instrument including the articulation assembly. The articulation assembly includes proximal gear assemblies arranged in diagonally-opposed pairs and distal gear assemblies coupled to the respective proximal gear assemblies and likewise arranged in diagonally-opposed pairs. Each distal gear assembly defines an opposite configuration as its diagonally-opposed distal gear assembly. First and second coupling gears couple the diagonally-opposed pairs of proximal gear assemblies such that an input to one of the proximal gear assemblies of a diagonally-opposed pair provides opposite outputs of the corresponding distal gear assemblies.