End Tool Pulley Transmission for Intuitive Surgical Motion

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Solution Overview

Problem

Existing surgical instruments with bendable end tools lack intuitive motion matching between the manipulation portion and the end tool, leading to difficulty in operation and increased learning time for surgeons.

Innovation Solution

The surgical instrument features an end tool with independently rotating jaws, pulleys, and a driving force transmission system that allows for intuitive manipulation, enabling the end tool to move in the same direction as the manipulation portion, with a connection portion that includes a bent design to accommodate wires and pulleys, allowing for pitch, yaw, and actuation motions.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If the end tool is made bendable to access surgical sites, then the ability to reach surgical sites is improved, but the intuitive operation becomes difficult and learning time increases

Engineering Contradiction:

Improveability to access surgical sitesVSAvoidintuitive operation

Core Design Contradiction:

Adaptability or versatilityVSEase of operation

Solution Approach 1:

The patent inverts the control mechanism by making the manipulation portion bendable rather than the end tool. The manipulation portion includes a bent connection portion with pulleys that change the direction of force transmission, allowing the end tool to move in the same direction as the surgeon manipulates it, thereby restoring intuitive operation while maintaining the ability to access surgical sites

Inventive Principle:

Principle #13The other way round (Inversion)

2Adaptability or versatility

If the end tool is made bendable to perform various surgical motions, then the range of surgical motions is improved, but the matching between manipulation motion and actual motion deteriorates

Engineering Contradiction:

Improverange of surgical motionsVSAvoidmotion matching

Core Design Contradiction:

Adaptability or versatilityVSEase of operation

Solution Approach 1:

The patent introduces an intermediary mechanism in the form of pulleys (J11, J21, J12, J14, J22, J24) and a bent connection portion that acts as a mediator between the manipulation portion and the end tool. This intermediary system transforms the manipulation motions into corresponding end tool motions while maintaining directional matching, allowing various surgical motions without compromising motion matching

Inventive Principle:

Principle #24Intermediary (Mediator)

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 enhances operational convenience, accuracy, and reliability by ensuring that the manipulating direction of the surgeon matches the operating direction of the end tool, reducing errors and improving surgical efficiency.

Implementation Method 1

a driving force transmission portion for transmitting a driving force of the manipulation portion to the end tool

Methodology Applied

Scientific EffectMechanical force transmission: Mechanical Force

Data Source

PatentUS12414788B2End tool of surgical instrument and surgical instrument including the same

Publication Date: 2025.09.16 LIVSMED INC

AI summary

According to the present disclosure, provided is a surgical instrument in which an actual motion of bending an end tool or performing a surgical treatment intuitively matches a motion of a manipulation portion corresponding thereto. In detail, to this end, provided are an end tool having various degrees of freedom, a manipulation portion having a structure to enable intuitive manipulation of a motion of the end tool, and a driving force transmission portion for transmitting a driving force of the manipulation portion to the end tool so that the end tool operates as manipulated by the manipulation portion.