Flexible Surgical Instrument with Driving Backbone
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Solution Overview
Problem
Existing surgical instruments for minimally invasive surgeries, such as single-port laparoscopic and natural orifice transluminal non-invasive surgeries, face challenges in miniaturization and improved moving performance due to their rigid structures and reliance on wire rope tensioning systems, which restricts their flexibility and effectiveness.
Innovation Solution
A flexible surgical instrument system with a driving backbone structure composed of a distal, proximal, and middle connecting body, utilizing linear motion mechanisms and multi-motor assemblies to enable arbitrary direction turning and linear motion, along with a surgical end effector actuation mechanism for precise control, while maintaining sterility through a sterile barrier.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a rigid structure with wire rope tensioning system is used, then the surgical instrument can be turned at hinge joints, but the instrument cannot be further miniaturized and moving performance is limited
Solution Approach 1:
The patent replaces the traditional rigid rod structure with a flexible continuous body structure composed of multiple segments connected by flexible joints. The flexible segments can bend and conform to curved paths, enabling the instrument to navigate through natural orifices and single incisions while maintaining structural integrity and controllability.
Solution Approach 2:
The surgical instrument is divided into multiple flexible segments that can independently bend and rotate. Each segment contains drive shafts that can be actuated independently, allowing for complex motion patterns and precise positioning at the distal end while reducing the overall size and complexity of the system.
2Adaptability or versatility
If multiple rods hinged in series are used, then the surgical instrument can be turned, but the structure is rigid and flexibility is limited
Solution Approach 1:
The patent implements a dynamic flexible continuous body structure where segments can change their relative angles and positions during operation. The flexible joints allow the instrument to adapt its shape dynamically to navigate complex anatomical paths while maintaining stability when positioned, achieving both flexibility and structural integrity.
Solution Approach 2:
The flexible segments are constructed using composite materials that provide both flexibility for bending and sufficient structural strength for maintaining shape. The combination of flexible and rigid elements within each segment allows the instrument to conform to curved paths while maintaining operational stability and precision.
3Ease of operation
If a pre-bent sleeve is added to modify rigid instrument, then moving performance is improved to some extent, but fundamental problems cannot be solved
Solution Approach 1:
The patent replaces the traditional wire rope tensioning mechanism with a direct drive system where motors are integrated into each flexible segment. This eliminates the need for complex external cable management and pulley systems, enabling true flexible motion while reducing overall system complexity and improving miniaturization potential.
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
The flexible surgical instrument system achieves improved stability, load capacity, and freedom of movement, allowing for precise surgical operations through a single incision or natural orifice, enhancing the effectiveness of minimally invasive procedures.
Implementation Method 1
a first lead screw, a first sliding block and a first shaft, the first lead screw is rotatably supported between the two channel fixing plates, a rear end of the first lead screw passes through the channel fixing plate near the proximal structural body side and extends rearward, the first shaft is fixedly connected between the two channel fixing plates, and the first sliding block is slidably connected to the first shaft and is threadly connected to the first lead screw
Data Source
AI summary
Disclosed is a flexible surgical instrument system comprising a flexible surgical instrument and a driving unit. The flexible surgical instrument can comprise a flexible continuous body structure composed of a distal structural body, a proximal structural body and a middle connecting body. The distal structural body can comprise a distal segment, comprising a distal spacing disk, a distal fixation disk and structural backbones. The proximal structural body can comprise a proximal segment comprising a proximal spacing disk, a proximal fixation disk and structural backbones. The middle connecting body can comprise channel fixing plates and a structural backbone guide channel. The driving unit can comprise a driving unit fixing plate. Linear motion mechanisms are provided between the driving unit fixing plate and the channel fixing plate near the proximal structural body, an output end of each of the linear motion mechanisms is securely connected to a first driving backbone.