Handheld Surgical Instruments With Interchangeable Tendon-Driven End-Effectors
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Solution Overview
Problem
Existing robotic surgical systems face challenges in distal-end dexterity, grasping force, and force-sensing capability, particularly in minimally invasive neurosurgery, limiting their effectiveness in manipulating tissue with precision and control.
Innovation Solution
A handheld surgical system with interchangeable instruments featuring a tendon routing system and capstan shafts that allow actuation of end-effectors in multiple degrees of freedom, including pitch, yaw, and open/close motions, using a joystick-controlled handheld controller for precise manipulation and grasping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If robotic surgical systems use rigid instruments for minimally invasive procedures, then surgical precision is improved, but distal-end dexterity and tissue manipulation capability deteriorate
Solution Approach 1:
The robotic surgical system divides the instrument into multiple segments: a rigid proximal portion for structural stability and a flexible distal portion with end-effector for dexterous manipulation. This segmentation allows each part to fulfill its specific function optimally - the rigid proximal section maintains precision while the flexible distal section provides dexterity.
Solution Approach 2:
The system transitions from static rigid instruments to dynamic flexible instruments that can adapt their configuration. The flexible distal portion can bend and articulate to reach difficult anatomical locations while maintaining controlled positioning, enabling both precision and dexterity through dynamic adaptation.
2Ease of operation
If robotic instruments are designed for high dexterity in confined spaces, then tissue manipulation capability is improved, but grasping force and force-sensing capability deteriorate
Solution Approach 1:
The instrument separates the dexterous distal end-effector from the force-generating proximal mechanism. The end-effector provides fine manipulation capability while the proximal section houses robust actuators that deliver sufficient grasping force through tendon routing, resolving the contradiction between dexterity and force.
Solution Approach 2:
Tendons serve as intermediaries transmitting force from the proximal actuators to the distal end-effector. This intermediary mechanism allows robust force generation at the proximal end to be effectively transmitted to the delicate distal end, maintaining both grasping force and dexterity.
3Reliability
If robotic surgical systems use fixed specialized instruments, then performance for specific procedures is improved, but adaptability to different surgical needs deteriorates
Solution Approach 1:
The robotic system employs a universal handheld controller that can interface with multiple interchangeable instruments. Each instrument is designed with standardized coupling mechanisms allowing quick exchange between different surgical tools, enabling the system to adapt to various surgical procedures while maintaining reliable performance for each specific task.
Solution Approach 2:
The system transitions from fixed specialized instruments to a dynamic configuration where instruments can be exchanged and reconfigured based on surgical needs. The standardized interface and modular design allow the system to adapt its instrument set throughout the procedure or between cases while maintaining optimized performance for each specific instrument's intended function.
4Ease of operation
If robotic instruments use complex actuation mechanisms for multi-degree-of-freedom movement, then dexterity is improved, but device complexity and ease of sterilization deteriorate
Solution Approach 1:
The system extracts the complex actuation mechanisms from the disposable distal instrument and relocates them to the reusable proximal handheld controller. This extraction allows the distal instrument to be simplified for easy sterilization while the controller houses the sophisticated multi-degree-of-freedom actuation systems that provide dexterity.
Solution Approach 2:
Tendons and pulleys serve as intermediary mechanisms that transmit actuation forces from the proximal controller to the distal end-effector. This intermediary transmission system allows complex multi-degree-of-freedom control to be achieved at the distal end while keeping the actual actuators located at the proximal end, simplifying the distal instrument design.
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 system provides enhanced dexterity and force application, enabling precise soft tissue resection and manipulation, with interchangeable instruments that can be easily detached and reused, suitable for neurosurgical procedures.
Implementation Method 1
one or more capstan shafts disposed at the proximal region, each capstan shaft comprising a pair of capstans configured to be operatively coupled to a pair of pulleys
Implementation Method 2
rotation of the corresponding capstan shaft in a first rotational direction causes a first tendon of the pair of tendons to move in a first axial direction and causes a second tendon of the pair of tendons to move in a second axial direction opposite the first axial direction
Implementation Method 3
each capstan shaft comprising a pair of capstans configured to be operatively coupled to a pair of pulleys
Implementation Method 4
one or more pairs of tendons. Each pair of tendons may have distal ends coupled to the end-effector and proximal ends extending through the elongated shaft towards a corresponding pair of capstans
Data Source
AI summary
Handheld surgical systems having an adjustable, ergonomic handheld controller and a series of interchangeable surgical instruments with dexterous, end-effectors for performing a surgical procedure, e.g., removing brain tumor tissue from confined spaces, and methods of use thereof are disclosed. The end-effector may be actuated in one or more degrees of freedom via a tendon routing system comprising a plurality of antagonistic pairs of tendons extending from the end-effector to a plurality of independently rotatable capstan shafts disposed within a housing of the interchangeable instrument and configured to be releasably and operatively coupled to one or more motors disposed within the handheld controller.