Robotic Endocutter Drivetrain with Manual Jaw Bailout

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Solution Overview

Problem

Endoscopic surgical instruments face complexity, size, and cost issues due to the need for multiple mechanisms and inputs to perform functions like grasping, cutting, and releasing tissue, which can complicate minimally invasive surgical procedures.

Innovation Solution

A surgical tool with a drivetrain that allows for bailout and manual opening of opposed jaws, featuring a transmission shaft that can move between positions for clamping, articulation, and firing, utilizing a combination of rotary and linear inputs to minimize mechanical outputs and include manual control for safety and versatility.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If multiple mechanisms and inputs are added to perform functions like grasping, cutting, and releasing tissue, then the functional versatility is improved, but the device complexity, size, and cost increase

Engineering Contradiction:

Improvefunctional versatilityVSAvoiddevice complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

A single rotary input mechanism performs multiple functions by coupling to different mechanisms through a shifter. The transmission shaft can couple to either the clamping assembly (for jaw opening/closing) or the firing assembly (for cutting), allowing one input to control multiple surgical functions, thereby reducing overall device complexity while maintaining versatility

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The patent combines the clamping and firing mechanisms into a single drivetrain system shared by both jaws. Both left and right jaws share the same transmission shaft and rotary input, merging multiple functions into a unified mechanical system that reduces the total number of components, size, and cost

Inventive Principle:

Principle #5Merging (Combining)

2Adaptability or versatility

If multiple mechanisms and inputs are added to perform functions like grasping, cutting, and releasing tissue, then the functional versatility is improved, but the size increases

Engineering Contradiction:

Improvefunctional versatilityVSAvoiddevice size

Core Design Contradiction:

Adaptability or versatilityVSVolume of moving object

Solution Approach 1:

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The shifter mechanism is nested within the housing and integrates the coupling between the rotary input and the transmission shaft. The transmission shaft itself is nested within the housing, and the clamping and firing assemblies are arranged concentrically, with the firing assembly positioned within the space occupied by the clamping assembly, maximizing space utilization and minimizing device size

Inventive Principle:

Principle #7Nested doll (Nesting)

3Adaptability or versatility

If multiple mechanisms and inputs are added to perform functions like grasping, cutting, and releasing tissue, then the functional versatility is improved, but the cost increases

Engineering Contradiction:

Improvefunctional versatilityVSAvoidmanufacturing cost

Core Design Contradiction:

Adaptability or versatilityVSEase of manufacture

Solution Approach 1:

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

Inventive Principle:

Principle #5Merging (Combining)

4Device complexity

If a single rotary input controls multiple mechanisms, then the device complexity is reduced, but the ease of operation may be compromised

Engineering Contradiction:

Improvedevice complexityVSAvoidease of operation

Core Design Contradiction:

Device complexityVSEase of operation

Solution Approach 1:

The shifter acts as an intermediary mechanism between the rotary input and the transmission shaft. It allows the user to easily switch between controlling jaw closure and firing functions by simply moving the shifter to different positions, providing intuitive control without increasing device complexity

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The coupling between the rotary input and transmission shaft is made dynamic through the shifter mechanism. The transmission shaft can be selectively coupled to different mechanisms based on the shifter position, allowing the system to adapt its function in real-time based on user input, thereby maintaining ease of operation while reducing complexity

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS11622825B2Robotic endocutter drivetrain with bailout and manual opening

Publication Date: 2023.04.11 CILAG GMBH INTERNATIONAL

AI summary

Various embodiments of tool assemblies are provided having at least one rotary input coupling and at least one linear input coupling for allowing either a rotary output or a linear output (e.g., from a tool driver on a surgical robot) to activate at least one mechanism of the tool assembly. For example, mechanisms of the tool assembly can include a clamping assembly, a firing assembly, an articulation assembly, and a roll assembly. The clamping assembly can open and close jaws of an end effector, the firing assembly can translate a knife assembly through the end effector to fire staples and cut tissue, the articulation assembly can articulate the end effector, and the roll assembly can rotate the elongate shaft and/or the end effector.