Flexible Surgical Instrument Segmentation and Robotic Actuation
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Solution Overview
Problem
Existing surgical instruments face challenges in miniaturization and improving moving performance, particularly in single-port laparoscopic and natural orifice transluminal non-invasive surgeries, due to the limitations of traditional rigid structures and driving mechanisms.
Innovation Solution
A flexible surgical instrument system comprising a distal structural body, a proximal structural body, and a driving unit with linear motion mechanisms, where the structural backbones of the distal segment are securely connected to the proximal segment, allowing for turning in any direction, and a sterile barrier for isolating sterilizable parts from unsterilized parts.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If traditional rigid surgical instruments with steel wire rope driving mechanisms are used, then the instruments can be operated through multi-port laparoscopic surgery, but the instruments cannot be miniaturized and have limited moving performance in single-port and natural orifice surgeries
Solution Approach 1:
The surgical instrument is divided into multiple segments including a proximal structural body, a distal structural body, and intermediate connecting structures. Each segment can move independently through hinge joints, allowing the instrument to navigate complex anatomical pathways while maintaining a compact overall size suitable for single-port and natural orifice access.
Solution Approach 2:
The traditional steel wire rope pulley system is replaced with a robotic driving mechanism comprising a driving unit, driving shaft, and connection mechanisms. This substitution enables more precise control and improved moving performance while allowing for miniaturization of the instrument components.
2Object-affected harmful factors
If all surgical instruments access through a single channel in single-port laparoscopic surgery, then trauma to the patient is reduced, but the preparation requirements for surgical instruments become extremely stringent
Solution Approach 1:
The surgical instrument employs a nested structure where the distal structural body, intermediate connecting body, and proximal structural body are arranged in a compact configuration. This nesting allows the instrument to pass through a single small incision or natural orifice while maintaining all necessary functional components for surgical operations.
Solution Approach 2:
The instrument incorporates multiple hinge joints and flexible segments that allow dynamic adaptation to the constraints of single-channel access. The distal and proximal structural bodies can rotate and adjust their positions independently, enabling the instrument to navigate the single incision pathway while maintaining operational capability.
3Ease of operation
If a pre-bent sleeve is added to modify rigid surgical instruments into semi-rigid instruments, then moving performance is improved to some extent, but the fundamental problems of traditional microsurgical instruments cannot be solved
Solution Approach 1:
Rather than merely adding a pre-bent sleeve to a rigid instrument, the invention segments the entire instrument into multiple flexible structural bodies connected by hinge joints. This fundamental segmentation allows the instrument to achieve true flexibility and adaptability for various surgical access methods, going beyond the limitations of semi-rigid modifications.
Solution Approach 2:
The invention replaces the traditional rigid or semi-rigid mechanical structure with a robotic-driven flexible system. The driving unit and connection mechanisms enable active control of each segment, providing both improved moving performance and the ability to fundamentally resolve the limitations of traditional microsurgical instruments through intelligent actuation.
Data Source
AI summary
The present disclosure provides a flexible surgical instrument system, comprising: a flexible surgical instrument comprising: a distal structural body comprising at least one distal structural segment comprising a distal fixing disk and structural backbones; a proximal structural body comprising at least one proximal structural segment comprising a proximal fixing disk, structural backbones, and driving backbones, the structural backbones of the distal structural segment being securely connected to or the same as corresponding structural backbones of the proximal structural segment; and a driving unit comprising a plurality of linear motion mechanisms operable to cooperatively push-pull the driving backbones to turn the proximal structural segment, each linear motion mechanism comprising an input end to receive a first linear motion; and a sterile barrier disposed at a proximal side of the plurality of linear motion mechanisms and operable to transfer the first linear motions to the input ends, respectively.