Uterine Manipulator With Dual-Mode Cable Articulation
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Solution Overview
Problem
Existing uterine manipulators lack the ability to be both manually and robotically operable, limiting their versatility and efficiency in surgical procedures.
Innovation Solution
A uterine manipulator designed with a housing, shaft, tip hub, and articulation assembly that allows for both manual and robotic operation, featuring a drive cable and nut system for pivoting the tip hub relative to the shaft, with a handle that can be folded or removable for different configurations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a uterine manipulator is designed for manual operation only, then it maintains simple structure and ease of manufacture, but it lacks versatility and cannot be operated by robotic systems
Solution Approach 1:
The uterine manipulator is designed with a universal interface system that enables it to function with both manual and robotic operation modes. The housing includes a robotic interface with drive member receptacles that can accept either robotic drive members or manual control mechanisms, allowing the same device to serve multiple operational purposes without requiring separate instruments for each mode.
Solution Approach 2:
The manipulator incorporates a dynamic control system where the articulation assembly can be actuated through different mechanisms depending on the operational mode. The drive cables and pulleys allow for flexible transmission of actuation forces whether from robotic motors or manual cranks, enabling the system to adapt its control mechanism while maintaining the same functional output.
2Ease of operation
If a uterine manipulator is designed for robotic operation only, then it achieves high precision and automation, but it loses ease of manual operation and requires complex robotic interfaces
Solution Approach 1:
The manipulator uses drive cables as intermediary elements that can transmit actuation forces from either robotic motors or manual cranks to the articulation assembly. These cables serve as a universal mediation mechanism that accommodates both automated and manual control inputs, allowing seamless transition between operational modes without requiring mode-specific control systems.
Solution Approach 2:
The control system is segmented into independent modular components - the articulation assembly, drive cables, pulleys, and interface mechanisms - that can function with different actuation sources. This segmentation allows the manipulator to be operated manually or robotically by simply changing the actuation source while keeping the rest of the system unchanged.
3Productivity
If the manipulator includes both manual and robotic operation capabilities, then it achieves high versatility, but it increases device complexity and difficulty of manufacture
Solution Approach 1:
The manipulator merges the manual and robotic operational capabilities into a single integrated device with common structural components. The housing, articulation assembly, and drive cable system serve both operational modes, eliminating the need to manufacture and maintain separate instruments for manual and robotic use, thereby improving productivity while managing manufacturing complexity through component sharing.
4Adaptability or versatility
If the handle is permanently coupled to the housing, then it ensures stable manual operation, but it prevents adaptability for different surgical configurations
Solution Approach 1:
The handle is designed with a hinge joint that allows it to be dynamically repositioned between a folded configuration for robotic operation and an extended configuration for manual operation. This dynamic positioning capability enables the handle to adapt to different surgical configurations while maintaining operational stability in each mode through secure positioning 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
Enables seamless transition between manual and robotic operation, enhancing the manipulator's versatility and ease of use in surgical procedures such as hysterectomies and other gynecological surgeries.
Implementation Method 1
a first nut threadedly coupled to the first driven member such that the first nut translates along the first driven member upon rotation of the first driven member
Data Source
AI summary
A uterine manipulator includes a housing configured to be coupled to an instrument drive unit of a robotic system, a shaft extending distally from the housing, a tip hub pivotably coupled to a distal end portion of the shaft, an articulation disposed within the housing, and a handle operably coupled to either the housing or the shaft. The articulation assembly is configured to pivot the tip hub relative to the shaft and includes a drive cable operably coupled to the tip hub. The articulation assembly is actuatable manually by a user and robotically by the robotic system to pivot the tip hub relative to the shaft. The handle is configured to be manually gripped by a user for manual use of the uterine manipulator.