Monolithic Input Stack for Robotic Surgical Tools
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Solution Overview
Problem
Conventional input stacks for robotic surgical tools are complex and costly due to their multi-component nature, which increases the complexity and expense of cable-based actuation systems in robotic surgical instruments.
Innovation Solution
A simplified input stack design that integrates a monolithic structure for the drive input and accumulator, with static redirect surfaces and a decoupling mechanism, reducing part count and complexity while maintaining functionality.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional multi-component input stacks are used, then the actuation system can function reliably, but the device complexity and manufacturing cost increase
Solution Approach 1:
The patent combines multiple separate components (drive input, accumulator, and redirect surfaces) into a single integrated input stack structure. This merging reduces the number of parts and assembly steps while maintaining the functional reliability of the cable-based actuation system through unified structural design
2Reliability
If conventional multi-component input stacks are used, then the actuation system can function reliably, but the manufacturing cost increases
Solution Approach 1:
By integrating multiple functions into a single input stack component, the patent reduces manufacturing costs through fewer parts to produce, inventory, and assemble. The unified structure simplifies the supply chain and reduces assembly operations while preserving actuation reliability
3Device complexity
If a simplified monolithic input stack is used, then the device complexity and cost are reduced, but the functionality to actuate surgical tools must be maintained
Solution Approach 1:
Within the monolithic input stack structure, the patent incorporates segmented functional elements including distinct drive input portions, accumulator portions, and redirect surfaces. This internal segmentation allows each function to be properly performed while maintaining overall structural integration and simplicity
Solution Approach 2:
The integrated input stack structure performs multiple functions simultaneously - it receives drive inputs, accumulates cable tension, and redirects cable forces - all within a single structural component, thereby maintaining full actuation functionality while reducing overall device complexity
Data Source
AI summary
A robotic surgical tool includes an elongate shaft extendable through a handle, a drive cable extending along a portion of the shaft, and an actuation system housed within the handle and including an input stack having first and second ends. The input stack includes a drive input arranged at the first end, and an accumulator arranged between the first and second ends and including a differential body defining upper and lower redirect surfaces, and a redirect feature offset from the upper and lower redirect surfaces, wherein the drive cable is threaded through the upper and lower redirect surfaces and the redirect feature, and wherein actuating the actuation system rotates the input stack and thereby acts on the drive cable to cause one or more operations of the surgical tool.