Surgical End Effector Cable Decoupling for Independent Pitch and Yaw

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Solution Overview

Problem

Existing minimally invasive surgical robots face challenges in decoupling the coupling relationship between drive cables for pitch and yaw motions of the end effector, leading to complex software algorithms and potential control errors.

Innovation Solution

A mechanical decoupling mechanism is introduced using a drive unit and decoupling members to manipulate the length of cables, allowing independent motion of the end effector's pitch and yaw movements without software interference.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If software decoupling algorithm is used to decouple the coupling relationship between drive cables, then the pitch motion can be controlled, but the control program complexity increases and decoupling precision may be compromised

Engineering Contradiction:

Improvepitch motion controlVSAvoidcontrol program complexity

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The patent replaces the software-based decoupling algorithm with a mechanical decoupling mechanism consisting of a master decoupling member and a slave decoupling member. The master decoupling member rotates coaxially with the drive unit to drive the slave decoupling member, which adjusts the cable lengths to decouple the pitch motion from the yaw motion. This mechanical substitution eliminates the need for complex software algorithms while maintaining decoupling precision.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The patent introduces a slave decoupling member as an intermediary component between the drive cables and the end effector. This slave decoupling member acts as a mediator that adjusts the cable lengths in response to the master decoupling member's rotation, thereby decoupling the coupling relationship between the drive cables for pitch and yaw motions without requiring complex control software.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Adaptability or versatility

If drive cables are constrained to each other for pitch and yaw motions, then the end effector can perform multi-degree-of-freedom motion, but the coupling relationship causes control errors

Engineering Contradiction:

Improveend effector motion capabilityVSAvoidcontrol precision

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The patent segments the drive cable system into independent pitch control and yaw control pathways by introducing the master and slave decoupling members. The master decoupling member handles pitch motion control while the slave decoupling member adjusts the cable lengths to prevent coupling with yaw motion. This segmentation allows the end effector to maintain multi-degree-of-freedom motion capability while eliminating control errors caused by cable coupling.

Inventive Principle:

Principle #1Segmentation

3Measurement precision

If mechanical decoupling mechanism is introduced, then the coupling relationship is precisely decoupled, but the device structure becomes more complex

Engineering Contradiction:

Improvedecoupling precisionVSAvoidmechanical structure complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent merges the decoupling function with the existing drive mechanism by making the master decoupling member coaxial with the drive unit. The master decoupling member rotates together with the drive unit, and its rotation is directly coupled to the slave decoupling member through the cable system. This merging approach integrates the decoupling function into the existing mechanical structure, achieving precise decoupling while minimizing additional structural complexity.

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 mechanical decoupling mechanism ensures precise and stable operation of the surgical robot by eliminating coupling constraints between drive cables, reducing algorithm complexity and enhancing operational stability.

Implementation Method 1

the master member being configured to rotate coaxially with the drive unit and drive the slave unit to move so as to increase length of one pair of cables of the first pair of cables and the second pair of cables, and reduce length of the other pair of cables of the first pair of cables and the second pair of cables inside of the drive device

Methodology Applied

Scientific EffectMechanical motion:

Data Source

PatentUS12508092B2Surgical instrument, slave operating equipment, and surgical robot

Publication Date: 2025.12.30 SHENZHEN JINGFENG MEDICAL TECH CO LTD

AI summary

A surgical instrument, slave operating equipment applied in the surgical instrument, and a surgical robot having the slave operating equipment. The surgical instrument includes an end effector, a drive device, and a cable. The drive device is configured to drive the end effector to move by means of the cable. The cable includes a first pair of cables and a second pair of cables which are used for driving the end effector to execute yaw movement, and a third pair of cables used for driving the end effector to execute pitch movement. The third pair of cables have a coupling relation with the first pair of cables and the second pair of cables on the end effector due to orthogonality of the pitch movement and the yaw movement. The drive device has a mechanical decoupling mechanism used for releasing the coupling relation.