End Effector Drive Mechanism for Compact Robotic Surgery
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Solution Overview
Problem
Existing robotic surgical end effectors face challenges due to the size constraints imposed by four-bar linkages, which limit miniaturization, and the complexity of wire management, leading to intermittent control failures and alignment issues.
Innovation Solution
The end effector design incorporates a housing with opposed walls, first and second actuators, and a coupling mechanism between the actuators, allowing for reduced size and improved wire management through a lever-based actuation system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If a four-bar linkage is used to enable opening and closing of end effector jaws, then the end effector can achieve mechanical motion for grasping and manipulation, but the width of the linkage portion is constrained which limits miniaturization of the end effector
Solution Approach 1:
The end effector is divided into modular components including a body, actuator assembly, and jaw assembly that can be independently manufactured and assembled. This segmentation allows for optimized sizing of each component while maintaining overall functionality, enabling miniaturization without sacrificing the mechanical motion capabilities provided by the four-bar linkage mechanism.
Solution Approach 2:
The actuator assembly is positioned within the body of the end effector, and the jaw assembly is nested within the body structure. This nesting arrangement minimizes the overall width and volume of the end effector while still accommodating the four-bar linkage mechanism, directly addressing the miniaturization constraint.
2Adaptability or versatility
If multiple wires are used to manipulate orientation and opening/closing of the end effector, then the end effector can achieve multiple degrees of freedom, but the large number of wires causes alignment difficulties and intermittent control failures
Solution Approach 1:
Multiple control functions are merged into integrated actuator assemblies. Each actuator assembly contains multiple wires that are pre-aligned and connected to specific jaw components, combining several control functions into a single modular unit. This reduces the overall number of wire connections required and improves alignment reliability.
Solution Approach 2:
The actuator assembly serves as an intermediary component between the control system and the jaw assembly. It provides a standardized interface that simplifies wire management and connection, acting as a mediator that reduces the complexity of aligning multiple wires directly from the control system to the jaw components.
3Ease of operation
If multiple wires extend through a flexible tubular member to a coupling device, then the end effector can be controlled from a distance, but the large number of wires makes it difficult to properly align wire controller elements
Solution Approach 1:
The control system is segmented into multiple independent actuator assemblies, each handling a specific degree of freedom. This segmentation allows wire controller elements to be aligned and connected at the actuator assembly level rather than requiring alignment of all wires simultaneously at a single coupling device, significantly reducing alignment complexity.
Solution Approach 2:
Wires are pre-assembled and pre-aligned within the actuator assemblies before final installation. This preliminary action of preparing wire connections in advance within modular units simplifies the final assembly process and reduces the complexity of aligning multiple wires during installation or replacement.
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
This design enables a more compact and reliable end effector with improved precision and reduced risk of control failures, facilitating more precise positioning and operation within body cavities.
Implementation Method 1
a coupling disposed within the opening of the housing and between at least a portion of the first and second actuators, the coupling including opposed first and second ends, each end pivotally coupled to a different one of the first and second actuators
Data Source
AI summary
Provided herein is a mechanism to controllably move a wire within a flexible tubular member, the wire including opposed wire ends extending outwardly of a proximal end of the flexible tubular member, comprising a drive mechanism and a coupling located between the drive mechanism and the wire end, wherein movement of the coupling in the direction of the wire end results in opposed motion of the wire end.