Endoscopic Instrument Thrust Element Articulation
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Solution Overview
Problem
Conventional endoscopic instruments have limited maneuverability, restricting the surgeon's ability to perform precise movements, especially in deep tissue or narrow spaces, and lack direct haptic feedback, requiring increased skill and experience to compensate for these limitations.
Innovation Solution
An endoscopic instrument with a distal end featuring a first and second end effector part mounted on a connecting element, utilizing four thrust elements that allow for multiple degrees of freedom, enabling pivoting and displacement in various planes, and providing direct haptic feedback through articulated mountings and joint sleeves for precise control.
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 at the distal end is limited
Solution Approach 1:
The end effector is divided into a first end effector part and a second end effector part that can move relative to each other. The connecting element is segmented into multiple sections (first, second, third sections) that can pivot independently, allowing the distal end to achieve complex movements while keeping each individual component relatively simple and rigid.
Solution Approach 2:
The instrument transitions from a completely rigid structure to a dynamically adaptable structure. The connecting element and end effector parts can pivot and move relative to each other, enabling the distal end to adapt its configuration based on operational needs while maintaining rigidity within each component for structural stability.
2Ease of operation
If the distal end is made movable to improve freedom of movement, then maneuverability is enhanced, but direct haptic feedback to the surgeon is lost
Solution Approach 1:
The movement system is segmented into distinct pivot points and articulation joints. Each joint (between connecting element sections and between connecting element and end effector parts) maintains direct mechanical coupling, allowing haptic forces from tissue interaction to be transmitted through each segment back to the surgeon's hand at the handle.
Solution Approach 2:
The connecting element acts as an intermediary mechanical structure that transmits both movement commands and haptic feedback between the handle and end effector. The articulated joints serve as intermediaries that enable relative movement while maintaining continuous mechanical contact for force transmission.
3Adaptability or versatility
If multiple thrust elements and articulations are added to enable pivoting in multiple planes, then degrees of freedom are increased, but mechanical complexity increases
Solution Approach 1:
The system achieves multiple degrees of freedom by segmenting the connecting element into multiple sections (first, second, third sections) that can pivot relative to each other, and by separating the end effector into two parts. Each segment has a relatively simple articulation, but their combination provides complex movement capability.
Solution Approach 2:
The structure dynamically adapts its configuration through articulated joints that allow pivoting in multiple planes. The first and second end effector parts can pivot relative to each other, and the connecting element sections can pivot relative to each other, creating a dynamically flexible system where each joint remains mechanically simple.
Data Source
Figure 1
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Figure 4
AI summary
Endoscopic instrument (10) with a proximal end (12), a distal end (14), a longitudinal direction (L) along which the endoscopic instrument (10) extends from the proximal end (12) to the distal end (14), an end effector (16) at the distal end (14) comprising a first end effector part (18) and a second end effector part (20), a connecting element (22) at the distal end (14) on which the first and second end effector parts (18, 20) are mounted and which extends along a transverse direction (Q), a first thrust element (30), a second thrust element (32), a third thrust element (34), and a fourth thrust element (36), wherein the thrust elements (30, 32, 34, 36) each extend along the longitudinal direction (L) and are displaceable relative to each other along the longitudinal direction (L), and wherein the first thrust element (30) is articulated on the first end effector part (18),the second shear element (32) is pivotally mounted on the second end effector part (20), the third shear element (34) is pivotally mounted on the connecting element (22), and the fourth shear element (36) is pivotally mounted on the connecting element (22).