Automated Knot Tying Device with Vision Inspection
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Solution Overview
Problem
Existing knot tying devices face challenges in consistently and reproducibly forming surgeon's knots, especially for small diameter wires or strings, and in ensuring the knot's position and integrity for medical devices like IUDs, where precise tension and infection prevention are critical.
Innovation Solution
A device and method for forming a double loop surgeon's knot using a flexible element, which includes a platform for engaging medical devices, a winding mandrel, rotary lock, and a housing with a vision inspection device to ensure knot quality and positioning, allowing for automated knotting with minimal operator intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If automated knot tying apparatuses are used, then productivity is improved, but device complexity increases
Solution Approach 1:
The automated knot tying apparatus is divided into distinct functional modules: a loading element for holding the flexible element, a spooling element for winding and paying out the element, a looping element for forming loops, and a knot tying element with a rotary lock mechanism. Each module performs a specific function in the knot tying sequence, enabling automated operation while maintaining manageable complexity through functional decomposition.
2Reliability
If the knot is tied securely, then reliability is improved, but the knot profile height increases
Solution Approach 1:
The apparatus enables precise control of the knot tying process by adjusting parameters such as the number of turns in the loop, the tension applied during tightening, and the position where the knot is formed relative to the medical device. The rotary lock mechanism allows controlled rotation to create the desired number of turns, and the tensioning element applies precise force to tighten the knot to a specific dimension, achieving both security and compact profile.
3Manufacturing precision
If the knot is positioned precisely, then manufacturing precision is improved, but the ease of operation decreases
Solution Approach 1:
The apparatus performs the knot tying operation automatically through a sequence of automated actions: the loading element presents the flexible element, the spooling element winds and pays it out, the looping element forms the loop, and the knot tying element with rotary lock creates and tightens the knot at a predetermined position. The system self-regulates the knot formation process without requiring manual dexterity, achieving precise positioning while simplifying operator involvement to loading and unloading.
4Measurement precision
If vision inspection is implemented, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The manual visual inspection process is replaced with an automated vision inspection system that uses optical sensors or cameras to detect and measure the knot's position, size, and quality characteristics. The vision system automatically captures images of the knotted medical device, processes the images to determine whether the knot meets specification, and provides feedback without requiring manual measurement, thereby improving precision while the modular integration keeps complexity manageable.
Data Source
Figure 1A~2
Figure 3A~4G
Figure 5A~6C
AI summary
Disclosed is an apparatus or device for making knots in a flexible element that engages a medical device, such as an IUD, and associated methods.