Endoscopic Instrument with Articulated Thrust Elements
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Solution Overview
Problem
Conventional endoscopic instruments have limited maneuverability and lack direct haptic feedback, restricting surgeons' and technicians' ability to perform precise movements, especially in deep tissue or constricted spaces.
Innovation Solution
An endoscopic instrument design featuring a distal end with a bearing element and three thrust elements that allow for multiple degrees of freedom, enabling the end effector to pivot in various planes and rotate, while providing direct haptic feedback through articulately coupled end effector parts and a mechanically simple construction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the endoscopic instrument is made rigid from handle to end effector, then structural stability is maintained, but maneuverability and freedom of movement are limited
Solution Approach 1:
The instrument shaft is divided into multiple segments that can articulate relative to each other. The shaft comprises a proximal segment and a distal segment that are displaceable relative to one another, allowing the end effector to achieve greater range of motion while maintaining overall structural integrity through controlled segmentation.
Solution Approach 2:
The instrument transitions from a completely rigid structure to a dynamically adaptable structure. The articulation points and thrust elements enable the shaft to change its configuration dynamically during operation, providing variable degrees of freedom depending on the operational requirements while maintaining mechanical simplicity through well-defined movement paths.
2Ease of operation
If the distal end is made movable to improve maneuverability, then freedom of movement increases, but direct haptic feedback is lost
Solution Approach 1:
The thrust elements are directly coupled to the articulation points without requiring external machine control systems. The surgeon's manual manipulation of the thrust elements directly actuates the end effector movements, creating a self-contained mechanical feedback loop that preserves haptic information while enabling multi-degree-of-freedom motion.
3Measurement precision
If machine control is used to actuate the end effector, then precision is improved, but direct haptic feedback to the surgeon is eliminated
Solution Approach 1:
The mechanical linkage between the thrust elements and end effector creates inherent haptic feedback. When the surgeon manipulates the thrust elements, the mechanical structure transmits force and position information back to the surgeon's hand, providing tactile feedback about tissue interaction while maintaining precise control through the articulated mechanism.
4Length of moving object
If the instrument is designed for deep insertion, then access to deep tissue is improved, but lateral displacement capability is reduced
Solution Approach 1:
The instrument gains additional degrees of freedom through articulation points that enable movement in multiple dimensions. The end effector can pivot in two mutually perpendicular planes and the shaft segments can articulate relative to each other, allowing lateral displacement and angular adjustment even when inserted deeply, effectively adding dimensional capability to overcome the limitations of deep insertion.
Data Source
AI summary
An endoscopic instrument having a proximal end, a distal end, a longitudinal direction, an end effector with first and second end effector parts, a bearing element at the distal end, on which bearing element the first and second end effector parts are arranged, and first, second and third thrust elements, wherein the thrust elements each extend along the longitudinal direction and are displaceable relative to one another, wherein the first thrust element is articulately coupled to the first end effector part, the second thrust element is articulately coupled to the second end effector part, the third thrust element is articulately coupled to the first end effector part and the second end effector part, and wherein the first and second end effector parts have bearing surfaces, and the bearing surfaces are each held slidably on the bearing element.