Multi-DOF Forceps Grip Positioning for Predictable Bending Control
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Solution Overview
Problem
In multi-degree-of-freedom forceps used in laparoscopic surgery, the handle position relative to the operation center can cause unintended changes in the insertion angle or movement angle, leading to unpredictable behavior of the distal treatment portion.
Innovation Solution
A multi-degree-of-freedom forceps system with a grip portion positioned around the operation center, allowing for separate control of the bending and pivot operations through a joint mechanism with a bending locking mechanism and pivot locking mechanism, ensuring the user can operate without advanced skill.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the handle is positioned closer to the proximal end side than the operation center, then the user can grasp the handle for operation, but the insertion angle or movement angle of the operation center changes unintentionally, causing unpredictable behavior of the distal treatment portion
Solution Approach 1:
The forceps is divided into functionally independent segments: the insertion portion with bending portions for distal manipulation, the joint portion with locking mechanisms for stable connection, and the operating portion with handle for user control. This segmentation allows each part to perform its specific function without interfering with others, ensuring predictable operation.
Solution Approach 2:
The joint portion acts as an intermediary between the insertion portion and operating portion. It includes a bending locking mechanism that locks the bending portion at a desired angle, and a pivot locking mechanism that prevents unintended rotation of the insertion portion relative to the operating portion, thereby ensuring predictable forceps behavior during operation.
2Ease of operation
If the grip portion is positioned around the operation center, then the bending operation and pivot operation can be separated for easier control, but the structural complexity increases due to joint portion and locking mechanisms
Solution Approach 1:
The locking mechanisms are designed to be self-latching once engaged. The bending locking mechanism locks the bending portion at the desired angle automatically, and the pivot locking mechanism prevents unintended rotation without requiring continuous user input. This self-service特性 reduces the complexity of continuous control while maintaining operational separability.
Solution Approach 2:
The joint portion combines multiple functions into a single structural element: it connects the insertion portion and operating portion, provides bending locking capability, provides pivot locking capability, and serves as the rotation center for the handle. This merging reduces the number of separate components needed while achieving the desired operational separability.
3Reliability
If the pivot locking mechanism is provided to fix the insertion portion, then unintended movements are prevented, but the ease of adjusting the insertion angle is reduced
Solution Approach 1:
The pivot locking mechanism is designed to be dynamically switchable between locked and unlocked states. When adjustment is needed, the mechanism can be easily unlocked to allow free rotation of the insertion portion. Once the desired angle is achieved, the mechanism locks to prevent unintended movements. This dynamic特性 allows the system to transition between flexibility and stability as needed.
Solution Approach 2:
The bending locking mechanism allows the user to preliminarily set the bending angle of the insertion portion to the desired position before engaging the pivot locking mechanism. This preliminary positioning makes subsequent angle adjustment easier, as the user only needs to make minor adjustments rather than large repositioning movements.
Data Source
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AI summary
A multi-degree-of-freedom forceps includes a insertion portion that has a first bending portion and a second bending portion connected to each other at both ends via an operating member; a treatment portion that is attached to the first bending portion and is used for tissue treatment; and an operating portion that is attached to the second bending portion to bend the second bending portion to thereby bend the first bending portion. The operating portion has a handle body capable of being swung relative to the insertion portion with the second bending portion as an operation center. The handle body has a grip portion that is gripped by a user in use. The grip portion is provided around the the operation center or closer to the insertion portion side than the operation center.