Gear-Driven Robotic End-Effector for Single-Incision MIS Access
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Solution Overview
Problem
Modern surgical technologies face challenges in minimally invasive surgery (MIS) and natural orifice transluminal endoscopic surgery (NOTES), including the need for multiple incisions, limited access of surgical robotic arms within the abdominal cavity, and difficulties in providing sufficient anchoring and reactive forces for precise surgical actions.
Innovation Solution
A robotic arm assembly with an end-effector assembly and gear system that allows for flexible movement and access to all quadrants of the abdominal cavity, featuring a modular design with integrated motors and gear assemblies to enable precise rotation and movement of surgical instruments, enabling single-access procedures and improved ergonomics.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple incisions are made to access the abdominal cavity, then the surgical team can insert camera and laparoscopic instruments, but the patient suffers from increased trauma and longer recovery time
Solution Approach 1:
The robotic arm assembly is divided into separate modular components including the robotic arm, end-effector assembly, instrument drive assembly, and gear assemblies. This segmentation allows each component to be independently optimized and controlled, enabling complex surgical tasks to be performed through a single access point while distributing the functional requirements across multiple specialized modules
Solution Approach 2:
The end-effector assembly is configured to be received within the robotic arm, and the instrument drive assembly is positioned within the end-effector assembly. This nested configuration allows multiple functional elements to be contained within a compact structure that can pass through a single incision while maintaining full functionality for multiple surgical instruments
2Object-affected harmful factors
If surgical robotic arms are inserted through single access points, then patient trauma is reduced, but the range of motion and access to all quadrants of the abdominal cavity is limited
Solution Approach 1:
The robotic arm incorporates multiple degrees of freedom with joints that can dynamically adjust the position and orientation of the end-effector assembly. The first and second gear assemblies enable independent rotation about different axes, allowing the instrument to reach all quadrants of the abdominal cavity while maintaining minimal incision size
Solution Approach 2:
The system adds rotational dimensions through the gear assemblies that enable the end-effector to move not only in linear directions but also to rotate about multiple axes. This dimensional enhancement allows a single inserted assembly to access areas that would traditionally require multiple incisions at different body locations
3Measurement precision
If complex gear assemblies are integrated into the robotic arm, then precise rotation and movement are achieved, but the device complexity increases
Solution Approach 1:
The drive system is segmented into separate gear assemblies: a first gear assembly for rotation about a first axis and a second gear assembly for rotation about a second axis. Each gear assembly is independently controlled and can be selectively engaged or disengaged, simplifying the control logic while achieving complex multi-axis rotational capability
Solution Approach 2:
The gear assemblies are designed to be selectively operable, allowing the same mechanical structure to serve multiple functions: providing precise rotation when needed, and being disengaged to allow linear movement when rotation is not required. This multi-functionality reduces the need for separate mechanisms for different types of motion
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
Enhances the flexibility and range of motion of surgical instruments, allowing for more precise and efficient surgical procedures with reduced need for incisions and improved anchoring, thereby improving surgical precision and reducing operational effort.
Implementation Method 1
The robotic arm assembly includes a gear assembly. The gear assembly includes a gear. The gear is configured to be interlocking with the instrument gear so as to drive the instrument gear to rotate when the gear rotates.
Data Source
AI summary
Embodiments relate to robotic arm assemblies. The robotic arm assembly includes an end-effector assembly. The end-effector assembly includes an instrument assembly. The instrument assembly includes an instrument and instrument driven portion. The elongated body includes an instrument central axis. The instrument driven portion includes a first central axis. The instrument driven portion is secured to a proximal end of the instrument in such a way that, when the instrument driven portion is driven to rotate, the instrument rotates relative to the first central axis. The end-effector assembly includes an instrument drive assembly. The instrument drive assembly includes an instrument drive portion. The instrument drive portion includes a second central axis. The instrument drive portion is configured to drive the instrument driven portion to rotate the distal end of the instrument relative to the first central axis. The second central axis intersects with and orthogonal to the first central axis.