Differential Articulation Joint for Flexible Surgical Actuators

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Existing surgical instruments face challenges in achieving a wide range of articulation of the end effector while accommodating various drive systems within the constraints of a trocar cannula, and maintaining the end effector's position during surgical procedures, especially when cutting and stapling tissue.

Innovation Solution

The surgical instruments employ a differential articulation joint arrangement that includes flexible actuators and articulation joints with elastomeric components, allowing for a wide range of motion and secure locking of the end effector, while accommodating drive systems such as rotary and axially moving firing members.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If a wide range of articulation is achieved through the end effector, then the surgical instrument's flexibility and positioning capability are improved, but the complexity of accommodating drive systems within the trocar cannula constraints increases

Engineering Contradiction:

Improvearticulation rangeVSAvoiddrive system accommodation

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The drive system is divided into multiple independent flexible actuators that can be individually routed through the articulation joint. Each actuator operates independently to control different aspects of end effector motion, allowing complex articulation without requiring a monolithic complex drive mechanism within the trocar constraints

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

Flexible actuators with elastomeric components are used to transmit drive forces through the articulation joint. These flexible elements can bend and conform to the joint's range of motion, enabling drive transmission while accommodating the full articulation range without rigid mechanical constraints

Inventive Principle:

Principle #30Flexible shells and thin films

2Measurement precision

If the end effector is allowed to articulate freely, then positioning precision is improved, but maintaining the end effector's position under external forces becomes difficult

Engineering Contradiction:

Improvepositioning precisionVSAvoidposition stability

Core Design Contradiction:

Measurement precisionVSStability of the object's composition

Solution Approach 1:

The articulation joint incorporates dynamic locking mechanisms that can transition between locked and unlocked states. During positioning, the joint remains unlocked for precise adjustment, then locks to maintain the position under external forces such as tissue resistance during cutting and stapling operations

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system includes sensors that detect the end effector's position and articulation joint state, providing feedback to the control system. This feedback enables real-time adjustment to maintain positioning precision while anticipating external forces before they cause position drift

Inventive Principle:

Principle #23Feedback

3Ease of manufacture

If flexible actuators with elastomeric components are used, then ease of manufacture and assembly are improved, but the reliability of maintaining position under external forces may be compromised

Engineering Contradiction:

Improveassembly easeVSAvoidposition holding reliability

Core Design Contradiction:

Ease of manufactureVSReliability

Solution Approach 1:

The flexible actuators combine elastomeric materials with reinforcing structures to create composite components. The elastomeric portion provides flexibility and ease of assembly, while the reinforcing elements maintain structural integrity and reliable force transmission under surgical loading conditions

Inventive Principle:

Principle #40Composite materials

Solution Approach 2:

The flexible actuator design merges the drive transmission function with the articulation joint structure. The elastomeric components are integrated directly into the joint mechanism, eliminating separate coupling elements and reducing potential failure points while maintaining position holding reliability

Inventive Principle:

Principle #5Merging (Combining)

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 enables precise and stable articulation of the end effector, supporting various drive systems, and maintains the end effector's position under external forces, enhancing the surgical instrument's functionality and durability.

Implementation Method 1

articulation joints with elastomeric components, allowing for a wide range of motion and secure locking of the end effector

Methodology Applied

Scientific EffectElasticity: Elasticity

Data Source

PatentUS12551214B2Surgical instruments with differential articulation joint arrangements for accommodating flexible actuators

Publication Date: 2026.02.17 CILAG GMBH INTERNATIONAL

AI summary

Surgical instruments that include an articulation joint that is a configured to establish an upper pathway and a lower pathway through the articulation joint. The upper pathway and the lower pathway are parallel to each other when the surgical instrument is in an unarticulated position and the upper pathway and the lower pathway are concentric to each other when the surgical instrument is articulated. An upper flexible firing assembly slidably extends through the upper pathway and a lower flexible firing assembly slidably extends through the lower pathway. The upper and lower flexible firing assemblies interface with a firing member and a differential drive assembly configured to apply axial drive motions to the upper flexible firing assembly and the lower flexible firing assembly.