Surgical End Effector Clevis with Integrated Lead Wire Channel
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Solution Overview
Problem
Surgical robotic systems face challenges in designing end effectors that efficiently grasp and treat tissue with both mechanical and energy-based methods, particularly in achieving precise tissue cutting and sealing while minimizing mechanical linkages and ensuring smooth tissue interaction.
Innovation Solution
The design of an end effector assembly featuring a clevis with pivotable jaw members and lead wires, which includes a proximal body, arms, and a finger with a channel for lead wires, allowing for precise tissue grasping and energy application through electrically conductive surfaces, and a tapered clevis configuration for smooth tissue interaction and reduced pinch points.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If traditional electrosurgical forceps with mechanical linkages are used, then tissue grasping and cutting functions are achieved, but mechanical complexity increases and tissue trauma is minimized poorly
Solution Approach 1:
The patent removes traditional mechanical linkages (cables, pulleys, joints) from the end effector assembly, replacing them with a direct-drive mechanism where the actuator is positioned at the distal end and directly actuates the jaw members. This extraction of mechanical linkages reduces device complexity and eliminates pinch points that could cause tissue trauma, while maintaining full grasping and cutting functionality through the remaining components: jaw members, actuator, and energy delivery system.
2Device complexity
If multiple mechanical linkages are used to enable jaw movement, then tissue grasping capability is achieved, but device complexity increases
Solution Approach 1:
The patent replaces the traditional mechanical linkage system with a direct-actuation mechanism. The actuator is positioned at the distal end of the shaft and directly drives the jaw members through a simplified transmission mechanism, eliminating the need for complex proximal mechanical linkages. This substitution maintains reliable tissue grasping capability while significantly reducing the number of mechanical components, thereby improving reliability by reducing potential failure points.
3Device complexity
If traditional cutting mechanisms are used, then tissue severing is achieved, but mechanical complexity and tissue trauma increase
Solution Approach 1:
The patent merges the cutting function with the electrosurgical energy delivery system. The jaw members are equipped with electrosurgical electrodes that deliver high-frequency electrical energy to sever tissue. This merging of mechanical grasping with energy-based cutting eliminates the need for separate mechanical cutting elements (blades, scissors), reducing mechanical complexity and minimizing tissue trauma by using a contactless energy-based cutting method that seals vessels simultaneously.
Solution Approach 2:
The patent substitutes mechanical cutting mechanisms (blades, scissors) with an electrosurgical energy-based cutting system. The electrodes on the jaw members deliver electrical energy that vaporizes and severs tissue without mechanical contact. This substitution eliminates mechanical complexity associated with traditional cutters and reduces tissue trauma by providing precise, controlled energy delivery that minimizes mechanical stress and crushing forces on the tissue.
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 efficient tissue grasping, cutting, and sealing with reduced mechanical complexity, facilitating precise surgical procedures and minimizing tissue trauma during robotic surgical operations.
Implementation Method 1
Each of the first and second jaw members includes a proximal flange portion at least partially disposed between the first and second arms of the clevis, a distal body portion extending distally from the clevis, and an electrically conductive tissue contacting surface
Implementation Method 2
The first and second lead wires are connected to the electrically conductive tissue contacting surfaces of the first and second jaw members, respectively
Data Source
AI summary
A surgical end effector assembly includes a clevis, first and second jaw members, and first and second lead wires. The clevis defines first and second arms spaced-apart relative to one another and extending from a proximal body and a finger extending from the proximal body at least partially between the arms. The finger defines a mouth at a free distal end thereof and a channel in communication with the mouth. The jaw members include proximal flange portions at least partially disposed between the arms, distal body portions extending distally from the clevis, and electrically conductive tissue contacting surfaces. At least one jaw member is movable to grasp tissue. The lead wires are connected to the tissue contacting surfaces and extend proximally from the distal body portions of the first and second jaw members through the mouth and into the channel of the finger of the clevis.