End Effector Jaw Assembly with Rotatable Mounts
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Solution Overview
Problem
Existing end effector technologies lack flexibility and versatility in operation, particularly in medical applications, as they often require fixed jaw orientations and limited articulation, restricting their ability to effectively grasp, cut, or perform other manipulations without compromising functionality.
Innovation Solution
The design incorporates a split yoke assembly with rotatable jaw mounts and a linkage system, allowing for adjustable articulation and rotation of the jaw assembly relative to the longitudinal axis, enabling three degrees of freedom: opening/closing, adjustable articulation, and rotation, with configurations for grasping, cutting, and electrocautery.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If fixed jaw orientation is used in existing end effectors, then structural simplicity is maintained, but operational flexibility and versatility are reduced
Solution Approach 1:
The jaw assembly is made dynamically adjustable through rotatable jaw mounts that allow rotation about the longitudinal axis and articulation at angles relative to the longitudinal axis. This enables the jaws to achieve multiple orientations and positions, transforming a static structure into a dynamic one that adapts to different surgical requirements.
Solution Approach 2:
The invention adds rotational freedom about the longitudinal axis and articulation angles as new degrees of freedom to the traditional jaw mechanism. This multi-dimensional movement capability allows the jaws to operate in various orientations without compromising structural integrity, resolving the contradiction between flexibility and complexity.
2Adaptability or versatility
If limited articulation is used in existing end effectors, then device simplicity is maintained, but ability to perform manipulations without compromising functionality is reduced
Solution Approach 1:
The articulation mechanism is segmented into distinct components: jaw mounts that rotate about the longitudinal axis, yoke assemblies that provide articulation at specific angles, and linkage systems that coordinate movement. This segmentation allows each component to perform a specific function while maintaining overall system manageability and functionality.
Solution Approach 2:
The jaw assembly with rotatable mounts and articulated yokes serves multiple functions: grasping, cutting, and various manipulations in different orientations. This multi-functional design eliminates the need for multiple specialized tools, enhancing manipulation capability without proportionally increasing complexity.
3Adaptability or versatility
If fixed jaw orientation is used, then ease of manufacture is improved, but operational versatility in medical applications is compromised
Solution Approach 1:
The jaw assembly incorporates rotatable mounts and articulated yokes that enable dynamic orientation adjustment. These components are designed with standardized interfaces and movement mechanisms that, while adding functionality, are engineered to be manufacturable using conventional techniques.
Solution Approach 2:
The design allows for adjustable parameters such as articulation angles and rotation positions without requiring custom manufacturing for each configuration. Standardized components with adjustable parameters enable versatility while maintaining manufacturing efficiency.
Data Source
AI summary
An end effector has three degrees of freedom in operation: (1) opening and closing of the jaws, (2) adjustable articulation of the jaw plane relative to the longitudinal axis, and (3) rotation of the jaw assembly, regardless of its articulation, about the longitudinal axis. A split yoke assembly is coupled to rotatable jaw mounts, which in turn are coupled to the jaws. A pushrod is configured to open and close the jaws, and cables coupled to the rotatable jaw mounts cause articulation of the jaw plane.