Dual-Continuum Surgical Tool Bending for Miniaturized Flexibility
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Solution Overview
Problem
Existing surgical instruments face challenges in miniaturization and improved movement performance due to their rigid structure and wire-driven bending mechanisms, limiting flexibility and increasing volume, which is not adequately addressed by semi-rigid instruments like the da Vinci Single-site surgical robot.
Innovation Solution
A double-bending flexible surgical tool system utilizing a dual continuum mechanism with a mechanical arm comprising continuum segments and a transmission driving unit, employing a double-threaded rod and sliding blocks to enable independent bending in opposite directions, allowing for increased flexibility and miniaturization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If a rigid structure with wire rope driving is used, then the surgical instrument can maintain structural stability, but the flexibility and miniaturization are limited
Solution Approach 1:
The patent replaces the traditional rigid structure with a flexible continuum structure composed of multiple segments connected by joints. Each segment can bend independently, allowing the entire instrument to be flexible yet maintain structural integrity. This flexible shell approach enables the instrument to adapt to curved anatomical structures while maintaining strength.
Solution Approach 2:
The surgical instrument is divided into multiple continuum segments that can bend independently relative to each other. This segmentation allows the instrument to achieve complex motion patterns and adapt to different anatomical shapes while maintaining overall structural stability through the rigid connection segments.
2Ease of operation
If a wire rope driven bending mechanism is used, then the instrument can bend at hinges, but the volume is relatively large and miniaturization is difficult
Solution Approach 1:
The patent eliminates the need for bulky wire ropes and pulleys by using a flexible continuum structure where bending is achieved through the inherent flexibility of the structure itself. The continuum segments can bend and return to their original shape without requiring external wire-driven mechanisms, significantly reducing the instrument volume.
Solution Approach 2:
The instrument transitions from a static rigid structure to a dynamic flexible structure that can change its shape in real-time. The continuum segments can be actively bent and positioned dynamically during surgery, eliminating the need for large mechanical bending mechanisms while maintaining operational capability.
3Ease of operation
If a semi-rigid structure with pre-bending sleeve is used, then movement performance is improved to some extent, but the original problems of traditional instruments remain
Solution Approach 1:
The patent divides the instrument into multiple independent continuum segments that can be controlled separately. This segmentation provides superior movement performance compared to semi-rigid structures while actually reducing overall structural complexity by eliminating the need for complex pre-bending sleeves and multiple wire rope systems.
Solution Approach 2:
The flexible continuum structure replaces the semi-rigid pre-bending sleeve design, providing better movement performance through inherent material flexibility rather than external mechanical constraints. This approach simplifies the overall structure by removing the need for complex pre-bending mechanisms.
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 system enhances surgical tool flexibility and movement performance, enabling accurate surgical actions with sufficient coverage and reduced size, suitable for natural orifice and single-incision surgeries.
Implementation Method 1
a transmission driving unit associated with the rigid connection segment and the proximal continuum segment, respectively, and operable to drive the first continuum segment to bend in any direction to drive the second continuum segment to bend in an opposite direction
Data Source
AI summary
A double-bending flexible surgical tool system includes a mechanical arm including a first continuum segment, a rigid connection segment, a second continuum segment, and a third continuum segment. The first continuum segment and the second continuum segment are associated to form a first dual continuum mechanism. A proximal continuum segment disposed at a proximal end of the first continuum segment and associated with the third continuum segment disposed at a distal end of the second continuum segment form a second dual continuum mechanism. A transmission driving unit associated with the rigid connection segment and the proximal continuum segment, respectively, is configured to drive the first continuum segment to bend in any direction to drive the second continuum segment to bend in an opposite direction, and to drive the proximal continuum segment to bend in any direction to drive the third continuum segment to bend in an opposite direction.