Knife Drive Mechanism for Precise Robotic Surgical Motion
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Solution Overview
Problem
Existing surgical instruments lack an efficient mechanism for remotely controlling the precise movement and operation of surgical tools, particularly in robotically assisted surgeries, which can lead to inefficiencies and challenges in performing minimally invasive procedures.
Innovation Solution
A robotic surgical system with a knife drive mechanism that includes a table-based robotic system and instrument drivers, allowing for precise control of surgical instruments through multiple degrees of freedom and independent operation of robotic arms, enabling enhanced control and manipulation of surgical tools, including RF energy surgical instruments, using a combination of mechanical motors, encoders, and input controllers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional surgical instruments are used without robotic assistance, then the surgical procedure can be performed with simple equipment, but the precision and control of surgical tool movement is insufficient
Solution Approach 1:
A robotic arm acts as an intermediary between the surgeon's manual input and the surgical instrument, providing precise positional control through servo mechanisms while isolating the complexity of the control system from the surgical field
Solution Approach 2:
Encoders provide real-time feedback on the position of the surgical instrument to the control system, enabling closed-loop control that maintains precision while allowing the system to self-correct positioning errors
2Ease of operation
If the controller is positioned far from the patient, then the surgeon has better access and ergonomics, but the control signal transmission and response time may be affected
Solution Approach 1:
The control system is segmented into modular components with independent controllers for each degree of freedom, allowing the main controller to be positioned remotely while maintaining responsive control through distributed processing
3Adaptability or versatility
If multiple degrees of freedom are implemented in the robotic arm, then the manipulation capability of surgical instruments is enhanced, but the device complexity and control difficulty increase
Solution Approach 1:
The robotic arm employs dynamic control where each joint can be independently actuated and controlled, allowing the system to adapt its configuration to different surgical tasks while maintaining manageable complexity through modular joint design
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 jaws and a knife member capable of actuating between a proximal and distal position. The knife driving assembly actuates the knife member between the proximal and distal position. The knife driving assembly includes a cable and a knife drive input assembly coupled to a first drive input and 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, whereas rotation in the second angular direction drives the knife member proximally.