Surgical End Effector Clamp Force Limiter for Tissue Compression Control
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Solution Overview
Problem
Existing surgical instruments lack a mechanism to precisely control the clamp force applied during tissue manipulation, which can affect the efficacy of cutting and coagulation processes, particularly in robotic-assisted surgeries where operator feedback is limited.
Innovation Solution
Incorporation of a force limiter mechanism in the surgical instrument's shaft assembly, which includes a resilient portion and a spacer to limit clamp closure force to a predetermined maximum, ensuring consistent tissue interaction regardless of applied force variations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If no force limiter mechanism is used, then the clamp can apply sufficient force for tissue manipulation, but the clamp force cannot be precisely controlled and may cause excessive compression
Solution Approach 1:
A force limiter mechanism is introduced as an intermediary component within the shaft assembly. This mechanism includes a resilient portion and a spacer that work together to limit the clamp closure force to a predetermined maximum, preventing excessive compression while allowing controlled force transmission during surgical procedures
Solution Approach 2:
The force limiter mechanism changes the force transmission parameter by introducing a predetermined force limit. The resilient portion and spacer configuration allows the system to transition from unlimited force transmission to controlled force transmission, where the clamp force is capped at a specific predetermined maximum value
2Force
If the clamp applies high force for secure tissue grasping, then tissue manipulation is effective, but cutting and coagulation precision is reduced due to excessive compression
Solution Approach 1:
The force limiter mechanism provides implicit feedback by automatically limiting the clamp force to a predetermined maximum. When the clamp approaches the force limit, the resilient portion and spacer configuration prevents further force transmission, thereby preventing excessive compression that would compromise cutting and coagulation precision
Solution Approach 2:
The resilient portion and spacer are configured beforehand to cushion and limit the clamp force. This prior cushioning mechanism ensures that even if the operator applies maximum force, the actual force transmitted to the tissue is capped at a predetermined maximum, preventing excessive compression before it can occur
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 force limiter mechanism ensures controlled clamp force application, enhancing the precision of tissue cutting and coagulation by preventing excessive compression, thereby improving surgical outcomes in robotic-assisted procedures.
Implementation Method 1
at least a portion of the force limiter is configured to deflect upon exceeding the predetermined force such that the proximal actuator portion is configured to longitudinally move relative to the distal actuator portion
Data Source
AI summary
A surgical instrument and method of compressing tissue includes an end effector and a shaft assembly. The end effector has a jaw and a clamp arm movable between open and closed positions. The shafts assembly includes a clamp actuator having a proximal actuator portion, a distal actuator portion, and a force limiter. The force limiter is longitudinally connected between the proximal and distal actuator portions and configured to transfer movement from the proximal actuator portion to the distal actuator portion up to transferring a predetermined force therethrough. At least a portion of the force limiter is configured to deflect upon exceeding the predetermined force such that the proximal actuator portion is configured to longitudinally move relative to the distal actuator portion and thereby limit a clamping force between the jaw and the clamp arm.