Laparoscopic End Tool Control With Intuitive Pitch-Yaw Manipulation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing surgical instruments with non-bendable end tools face difficulty in accessing surgical sites and require a long learning curve for operators due to non-intuitive manipulation between the manipulator and end tool operations.
Innovation Solution
A surgical instrument with a rotatable end tool and a manipulator system featuring pitch, yaw, and actuation operators, including a joint member that allows intuitive manipulation by aligning the manipulator's operation direction with the end tool's movement, facilitated by a power transfer unit and connection unit.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the end tool is made non-bendable to simplify the structure, then the device complexity is reduced, but the ability to access surgical sites is compromised
Solution Approach 1:
The end tool is designed with a curved configuration that allows dynamic adaptation to different surgical site geometries. The manipulator system enables controlled bending and positioning of the end tool along multiple axes, transforming a static structure into a dynamically adaptable one that can reach complex anatomical locations while maintaining structural integrity
Solution Approach 2:
The end tool incorporates a curved configuration rather than a straight linear design. This curvature allows the tool to navigate around anatomical obstacles and access surgical sites that would be inaccessible to a straight tool, improving versatility without requiring complex segmented structures
2Adaptability or versatility
If the end tool is made bendable to improve access to surgical sites, then adaptability is improved, but the manipulation becomes non-intuitive and increases the learning curve
Solution Approach 1:
The manipulator system is designed with inverted control logic where the操纵 direction is reversed to match natural hand movements. When the operator moves the manipulator handle in a certain direction, the end tool moves in the corresponding intuitive direction, eliminating the learning curve associated with non-intuitive control schemes
Solution Approach 2:
The manipulator system integrates multiple control functions (pitch, yaw, and actuation) into a single unified interface that operates according to natural human motor patterns. This universal control mechanism handles all end tool movements through one intuitive操纵 system, simplifying the operator's task while maintaining full adaptability
3Device complexity
If the manipulator operation direction is made different from the end tool movement direction to achieve certain mechanical advantages, then the device complexity is reduced, but the ease of operation deteriorates
Solution Approach 1:
The connection unit acts as an intermediary component that transmits movements from the manipulator to the end tool while preserving the intuitive directional relationship. This intermediary mechanism ensures that操纵 directions at the handle are directly correlated with end tool movement directions, eliminating the need for complex reverse-logic control systems
Data Source
AI summary
Provided is a surgical instrument, in more detail, a surgical instrument that may be manually operated to be used in laparoscopic surgery or various other kinds of surgery. To this end, the present invention provides a surgical instrument including an end tool configured to be rotatable in at least two directions; and a manipulator including a pitch operator controlling a pitch movement of the end tool, a yaw operator controlling a yaw movement of the end tool, and an actuation operator controlling an actuation movement of the end tool; a power transfer unit configured to transfer an operation of the manipulator to the end tool; and a connection unit extending in a first direction (X-axis), and connecting the manipulator to the end tool when the end tool is coupled to an end portion of the connection unit and the manipulator is coupled to the other end portion of the connection unit, wherein at least a part of the manipulator extends towards the end tool.