Robotic Endoluminal Suturing With Toggle Needle Rotation
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Solution Overview
Problem
Existing endoscopes are complex and costly due to their reusability, requiring aggressive cleaning and sterilization, and current suturing devices are not suitable for robotic endoscopic platforms with reduced size and improved motion control.
Innovation Solution
A suturing instrument with a flexible shaft and a needle end effector featuring a toggle-based rotation mechanism for precise needle orientation, allowing insertion and retrieval, and a compact design suitable for robotic endoluminal platforms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Duration of action of stationary object
If endoscopes are designed to be re-usable, then they can be used multiple times, but they require aggressive cleaning and sterilization which complicates the design and increases maintenance needs
Solution Approach 1:
The patent describes a single-use endoscope designed for disposable use after one procedure. This eliminates the need for complex sterilization systems and aggressive cleaning protocols, simplifying the overall design while maintaining functional capabilities. The endoscope is intended to be discarded after a single use, avoiding the complexity associated with reusability.
2Ease of operation
If single-use endoscopes include a handle enclosing camera and electronics, then they can function as traditional endoscopes, but the cost becomes high
Solution Approach 1:
The patent describes removing the traditional handle component that encloses expensive electronics and camera systems. Instead, the endoscope functions without a handle, with the distal end performing both imaging and surgical functions. This extraction of the handle eliminates the associated manufacturing costs while maintaining essential endoscope functionality.
Solution Approach 2:
The distal end of the endoscope is designed to perform multiple functions: imaging, illumination, and surgical intervention (needle insertion, suture passing). This multi-functionality consolidates what would traditionally require separate components and a handle, reducing manufacturing complexity and cost while maintaining operational capability.
3Adaptability or versatility
If suturing devices are designed for manual endoscopes, then they can be used with traditional platforms, but they are not suitable for robotic endoscopic platforms with reduced size requirements
Solution Approach 1:
The needle is designed with dynamic positioning capabilities, allowing it to rotate and change orientation relative to the endoscope axis. This enables the needle to engage with ferrules at various angles and positions, providing adaptability for robotic platforms with limited degrees of freedom while maintaining the reduced size necessary for endoluminal use.
Solution Approach 2:
The invention introduces rotational movement of the needle around the endoscope axis as an additional dimension of control. This allows the needle to access ferrules positioned at different angular orientations without requiring the endoscope itself to rotate, effectively adding a degree of freedom that enables compatibility with robotic platforms while maintaining a compact form factor.
Data Source
AI summary
A suturing instrument is provided. The suturing instrument comprises: a flexible shaft comprising an articulatable bending section; and a needle end effector located at a distal end of the bending section. The needle end effector comprises a toggle-based rotation mechanism to switch an orientation of a needle to engage and disengage the needle with a ferrule.