End Effector Control Mechanism for Minimally Invasive Surgery
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Solution Overview
Problem
Surgical devices that access target sites via tortuous paths with small cross-sectional diameters face challenges in properly stapling and cutting tissue, leading to increased therapy time, cost, and potential patient trauma due to the need for more invasive procedures.
Innovation Solution
A medical device with a control mechanism that includes a pivot arm and end effector configured to move between in-line and angled orientations, allowing for improved access and manipulation of tissue through tortuous pathways, featuring a locking mechanism and actuation wire to facilitate pivotal movement and secure positioning of the end effector.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If surgical devices access target sites via tortuous paths with small cross-sectional diameters, then minimally invasive access is achieved, but the ability to properly staple and cut tissue is compromised
Solution Approach 1:
The end effector is designed with dynamic reconfigurability, allowing it to change its orientation from an in-line configuration (parallel to catheter axis) during insertion to an angled configuration (20-50 degrees relative to catheter axis) during operation. This dynamic transformation enables the device to navigate tortuous paths while maintaining effective tissue engagement capability.
Solution Approach 2:
The invention introduces an angular dimension to the end effector's orientation. By allowing the end effector to pivot between parallel and angled configurations relative to the catheter's longitudinal axis, the device gains an additional degree of freedom that enables effective tissue interaction through small lumens without requiring the entire device to be rigidly aligned.
2Ease of operation
If the end effector is positioned in-line with the catheter axis for insertion, then navigation through tortuous paths is improved, but tissue manipulation capability is reduced
Solution Approach 1:
The end effector transitions from a static in-line position during insertion to a dynamically adjustable angled position during tissue manipulation. This dynamic reconfiguration allows the device to adapt its geometry to different operational requirements, optimizing both navigation and tissue engagement capabilities.
Solution Approach 2:
The end effector is pre-positioned in the in-line configuration during insertion to facilitate navigation through tortuous paths. Once the target site is reached, the end effector is then reconfigured to the angled configuration to enable effective tissue manipulation. This preliminary positioning followed by reconfiguration optimizes both navigation and operational effectiveness.
3Adaptability or versatility
If the end effector is reconfigurable between in-line and angled positions, then tissue manipulation capability is improved, but device complexity increases
Solution Approach 1:
The control mechanism is segmented into modular components: a pivot arm that provides the angular movement, a locking mechanism with discrete locked and unlocked positions, and an actuation system. This segmentation allows each component to perform a specific function, simplifying the overall design while achieving the desired reconfigurability.
Solution Approach 2:
The locking mechanism is extracted as a separate, distinct component from the main end effector structure. By isolating the locking function into a dedicated mechanism that can be engaged or disengaged independently, the design achieves reconfigurability without requiring complex integrated control systems.
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 and minimally invasive tissue grasping, stapling, and cutting by allowing the end effector to navigate complex body pathways while maintaining secure positioning, reducing trauma and procedure time.
Implementation Method 1
The locking mechanism may be biased in the locked position by a spring.
Implementation Method 2
The locking mechanism may be configured to move from the locked position to the unlocked position in response to a force on the locking wire in the proximal direction sufficient to overcome a spring force.
Data Source
AI summary
A medical device including an attachment device having a longitudinal axis, a pivot arm having a first end pivotally attached to the attachment device, an end effector pivotally attached to a second end of the pivot arm and configured to move from a first configuration to a second configuration, and a longitudinally extending body attached to a proximal end of the end effector. Movement of the longitudinally extending body in a proximal direction rotates the end effector from the first configuration to the second configuration, the end effector is approximately parallel to the longitudinal axis of the attachment device in the first configuration, and the end effector is angled relative to the longitudinal axis of the attachment device in the second configuration.