Magnetic End Effector Articulation Without Endoscope Deflection
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Solution Overview
Problem
Conventional graspers in endoscopic procedures operate in limited degrees of freedom and require deflection of the endoscope for repositioning, affecting visualization and increasing procedure duration and risk.
Innovation Solution
A medical device with a handle assembly and sensor assembly that utilizes a magnetic field to articulate an end effector, allowing independent movement relative to the treatment site, using a magnet assembly on a patient table to control the device's position and orientation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If conventional graspers are used to reposition the end effector, then the end effector can be moved relative to the treatment site, but the endoscope must also be deflected which affects visualization and increases procedure duration
Solution Approach 1:
The patent replaces the mechanical coupling between endoscope deflection and grasper movement with an electromagnetic field-based system. A magnet assembly generates magnetic fields that directly actuate the grasper's articulation section, allowing independent movement of the end effector without requiring endoscope deflection. This substitution of mechanical linkage with electromagnetic actuation resolves the contradiction by enabling repositioning without the time-consuming coordinated movements of conventional systems.
Solution Approach 2:
The patent introduces a magnet assembly as an intermediary device positioned between the operator and the end effector. This intermediary generates magnetic fields that transmit force through the articulation section containing magnetic material, enabling precise control of the end effector's position and orientation independently of the endoscope. The intermediary magnetic field system allows repositioning without affecting endoscope visualization, thereby reducing procedure duration.
2Ease of operation
If the endoscope is deflected to reposition the grasper, then the grasper can be moved to different positions, but visualization of the treatment site is affected
Solution Approach 1:
The patent replaces the mechanical dependency where grasper repositioning required endoscope deflection with an electromagnetic actuation system. The magnet assembly independently controls the grasper's articulation section through magnetic fields, decoupling grasper movement from endoscope position. This allows the endoscope to remain stationary maintaining optimal visualization while the grasper is repositioned through magnetic actuation alone.
Solution Approach 2:
The patent segments the control system into independent components: the endoscope remains fixed for visualization while the grasper's articulation section is independently controlled by the magnet assembly. The articulation section with its magnetic material acts as a separate controllable unit that can be positioned without moving the endoscope, thereby maintaining illumination and visualization quality while enabling grasper repositioning.
3Adaptability or versatility
If conventional graspers with limited degrees of freedom are used, then the device structure remains simple, but the ability to manipulate tissue at different orientations is restricted
Solution Approach 1:
The patent replaces complex mechanical articulation mechanisms with an electromagnetic field-based actuation system. Instead of multiple mechanical joints and linkages, the system uses a magnet assembly that generates magnetic fields to control the articulation section containing magnetic material. This substitution achieves multi-degree-of-freedom articulation capability without the mechanical complexity, as the magnetic fields can be independently controlled to produce various orientations and positions of the end effector.
Solution Approach 2:
The magnet assembly serves as an intermediary that provides versatile control over the end effector's articulation. By positioning the magnet assembly and controlling its magnetic fields, the system can achieve multiple degrees of freedom in end effector manipulation. The intermediary magnetic field system translates simple magnet movements into complex articulation patterns, enhancing adaptability without proportionally increasing device structural complexity.
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 procedural efficiency by reducing the need for endoscope repositioning, improving visualization, and minimizing procedure duration and risk.
Implementation Method 1
a magnet assembly moveably coupled to a patient table and comprising a plurality of magnets; the articulation portion is configured to move when the magnet assembly applies a magnetic field to the articulation portion
Data Source
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AI summary
A medical device for insertion into a body may include a handle assembly including a handle body and a ball joint; a sensor assembly configured to electronically communicate with a magnet; a body extending longitudinally from the handle assembly; an articulation portion coupled to a distal end of the body, wherein the articulation portion includes a magnetic material; and an end effector coupled to a distal end of the articulation portion. The articulation portion may be configured to move upon application of a magnetic field from the magnet.