Distally Grounded Acoustic Waveguide for Ultrasonic Surgical Instrument Articulation
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Solution Overview
Problem
Current surgical instruments lack the ability to efficiently and precisely control ultrasonic and electrosurgical functions in a robotic surgical system, particularly in articulating configurations, which limits their effectiveness in minimally invasive procedures.
Innovation Solution
The development of an ultrasonic surgical instrument with a distally grounded acoustic waveguide and dual roll end effector capabilities, allowing for precise control of ultrasonic blade and clamp arm movements in various articulations, enabling simultaneous cutting and coagulation with improved tissue manipulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If an ultrasonic surgical instrument uses a conventional acoustic waveguide without distal grounding, then the structure is simpler, but the precision and control of ultrasonic blade vibrations deteriorate in articulating configurations
Solution Approach 1:
The acoustic waveguide is segmented into multiple sections with different grounding configurations. The distal section is grounded to the housing to provide a stable reference potential, while the proximal section remains electrically isolated. This segmentation allows the waveguide to function both as an acoustic transmission medium and as an electrical ground reference, improving vibration control without proportionally increasing overall structural complexity.
Solution Approach 2:
Different sections of the acoustic waveguide are assigned different electrical properties. The distal portion is made conductive and grounded to the housing to stabilize the ultrasonic vibrations at the blade tip, while the proximal portion maintains its acoustic properties without electrical grounding. This local differentiation of properties enables precise control where needed without compromising the overall simplicity of the design.
2Adaptability or versatility
If the surgical instrument uses an articulating shaft assembly with dual roll end effector, then the versatility and tissue manipulation capability are improved, but the alignment and control precision of the ultrasonic blade and clamp arm deteriorate
Solution Approach 1:
The end effector is designed with dual roll capability, allowing it to perform multiple functions: rolling the ultrasonic blade about its longitudinal axis, rolling the clamp arm about its longitudinal axis, and maintaining their relative alignment. This multi-functionality enables the instrument to adapt to various surgical techniques and tissue manipulation requirements while preserving precise alignment through integrated control mechanisms.
Solution Approach 2:
The articulating shaft assembly incorporates dynamic control mechanisms that allow real-time adjustment of the ultrasonic blade and clamp arm positions and orientations. The system can dynamically maintain alignment between the blade and clamp arm even as the end effector articulates and rolls, adapting to changing surgical conditions while preserving precision.
3Measurement precision
If the acoustic waveguide is grounded at the distal end to the housing, then the control precision of ultrasonic vibrations is improved, but the device complexity increases
Solution Approach 1:
The acoustic waveguide structure is merged with the electrical grounding system. The distal section of the waveguide serves dual purposes: transmitting acoustic ultrasonic vibrations to the blade and providing an electrical ground reference to the housing. This merging eliminates the need for separate grounding components, improving vibration control precision without proportionally increasing device complexity.
Solution Approach 2:
The acoustic waveguide structure itself provides the grounding function without requiring additional dedicated grounding components. The distal portion of the waveguide acts as both the acoustic transmission medium and the electrical reference, making the system self-sufficient and reducing overall complexity while improving control precision.
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
Enhances precision and control during surgical procedures, allowing for effective cutting and coagulation while maintaining alignment of the ultrasonic blade and clamp arm, even in articulated configurations, thereby improving surgical outcomes.
Implementation Method 1
These instruments include one or more piezoelectric elements that convert electrical power into ultrasonic vibrations
Implementation Method 2
the end effector of the surgical instrument includes a blade element that vibrates at ultrasonic frequencies to cut and/or seal tissue (e.g., by denaturing proteins in tissue cells)
Data Source
AI summary
An ultrasonic surgical instrument includes an end effector, a shaft assembly, and a waveguide grounding feature. The end effector includes an ultrasonic blade and a clamp arm movable between an open position and a closed position. The shaft assembly includes a proximal shaft portion extending along a longitudinal axis, an acoustic waveguide extending proximally from the ultrasonic blade, a distal shaft portion extending along a distal axis, and an articulation section interposed between the proximal shaft portion and the distal shaft portion. The articulation section can deflect the distal shaft portion and the end effector relative to the longitudinal axis between a straight configuration and an articulated configuration. The waveguide grounding feature inhibits the ultrasonic blade from shifting relative to the clamp arm along the distal axis as the end effector is driven between the straight configuration and the articulated configuration.