Knife Drive Assembly for Precise Robotic Surgical Cutting
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Solution Overview
Problem
Existing surgical instruments lack an efficient mechanism for remotely controlling the movement and operation of surgical instruments, particularly in robotically assisted surgeries, which limits the precision and ease of use for surgeons.
Innovation Solution
A robotic surgical system with a knife drive mechanism that integrates a servo motor and hand input devices, allowing surgeons to control surgical instruments from a distance, featuring a knife member that can be actuated between retracted and extended positions, and an end effector that applies RF energy for tissue sealing and cutting.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robotic surgical system with remote control is implemented, then the precision and ease of use are improved, but the device complexity increases
Solution Approach 1:
A robotic arm acts as an intermediary between the surgeon and the surgical instrument. The robotic arm includes a manipulator that can be remotely controlled via a master controller, allowing the surgeon to operate the surgical instrument with enhanced precision while remaining at a distance from the patient. This intermediary mechanism resolves the contradiction by providing precise control through a complex but well-structured robotic system.
2Object-affected harmful factors
If the controller is positioned far from the patient, then the surgeon's safety is improved, but the control response time increases
Solution Approach 1:
The control system is segmented into two locations: a master controller positioned far from the patient for surgeon safety, and a robotic arm with manipulator positioned near the patient for rapid response. The master controller transmits control signals wirelessly or through cables to the robotic arm, allowing the surgeon to remain protected while maintaining effective control. This segmentation resolves the contradiction by separating the control interface from the surgical site while maintaining real-time communication.
3Adaptability or versatility
If a knife drive mechanism is added to the surgical instrument, then the cutting capability is improved, but the device complexity increases
Solution Approach 1:
The knife drive mechanism is merged with the existing surgical instrument structure. The robotic arm's manipulator integrates both the surgical instrument and the knife drive mechanism, allowing the knife to be advanced and retracted along with the instrument. This merging resolves the contradiction by combining multiple functions (surgical manipulation and cutting) into a single integrated system, reducing overall complexity while enhancing versatility.
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 precision and ease of use in robotically assisted surgeries by enabling precise control of surgical instruments, allowing surgeons to perform procedures with improved ergonomic positioning and reduced radiation exposure.
Implementation Method 1
The controller may include one or more hand input devices (such as joysticks, exoskeletal gloves, master manipulators, or the like), which are coupled by a servo mechanism to the surgical instrument. In one example, a servo motor moves a manipulator supporting the surgical instrument based on the surgeon's manipulation of the hand input devices.
Implementation Method 2
Some instruments are operable to seal tissue by applying radiofrequency (RF) electrosurgical energy to the tissue.
Implementation Method 3
During the surgery, the surgeon may employ, via a robotic surgical system, a variety of surgical instruments including an ultrasonic blade
Data Source
AI summary
An apparatus includes an end effector, a shaft assembly extending proximally from the end effector, an instrument base, and a knife driving assembly. The end effector includes a pair of jaws and a knife member capable of actuating between a proximal and distal position. The knife driving assembly can actuate the knife member between the proximal and distal position. The knife driving assembly includes a cable and a knife drive input assembly coupled only to a first drive input. The knife driven assembly is capable of rotating in first and second angular directions. The cable terminates into a first end and a second end, which are both attached to the knife drive input assembly. A portion of the cable is attached to the knife member. Rotation of the knife drive input assembly in the first angular direction drives the knife member distally. Rotation of the knife drive input assembly in the second angular direction drives the knife member proximally.