Motion Amplifier for Steerable Tool Transmission
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Solution Overview
Problem
Current steerable surgical instruments face limitations in wrist movement dexterity due to the fulcrum effect and lack of wrist-like movements, leading to reduced precision and increased strain during complex procedures.
Innovation Solution
A mechanical transmission system (MTS) with a transmission amplifier region that amplifies actuating movements from a proximal to a distal part, allowing for omni-directional movement and increased bending angles, enhancing the control and stability of the instrument tip.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If omni-directional articulated instruments are used to provide wrist-like movements, then dexterity and range of motion are improved, but tip stability decreases
Solution Approach 1:
The instrument shaft is divided into multiple articulated segments that can bend independently, allowing wrist-like movements at the tip while maintaining stability through the segmented structure. Each segment can be controlled independently to achieve precise positioning.
Solution Approach 2:
A stability control mechanism acts as an intermediary between the articulated segments and the instrument tip, actively compensating for instability caused by bending movements. This mediator restores tip stability while preserving the omni-directional movement capability.
2Ease of operation
If the wrist is pre-bent to maintain constant angle of entry, then gripping and entry angle are improved, but bending angular freedom is reduced
Solution Approach 1:
The wrist joint is designed with dynamic adjustment capability, allowing the pre-bent angle to be changed during operation. This enables the surgeon to optimize between gripping comfort and bending freedom based on the specific surgical task at hand.
Solution Approach 2:
The wrist bending angle is made variable rather than fixed, allowing adjustment of the pre-bent parameter to match different surgical requirements. This parameter change resolves the contradiction between maintaining constant entry angle and achieving full bending range.
3Manufacturing precision
If mechanical transmission system with amplifier region is used, then movement precision is improved, but device complexity increases
Solution Approach 1:
The amplifier region is localized to a specific segment of the instrument shaft rather than being distributed throughout. This concentrated local amplification achieves precise movement control while minimizing overall system complexity.
Solution Approach 2:
The amplifier region utilizes a curved or spherical geometric configuration to achieve mechanical advantage and movement amplification. This geometric approach provides precise control through shape rather than complex mechanical components.
Data Source
AI summary
The present invention relates to mechanical transmission system (100, MTS) having a proximal (20) and distal end (40), for a longitudinal steerable tube (500), which MTS (100) comprises a set of longitudinal members, LM, (110) arranged in a longitudinal direction around a fictive tube (180) maintained at an essentially constant circumferential and radial position with respect to the fictive tube (180) and being slidable relative to the fictive tube (180), and has a transmission bendable proximal part (134, TBPP), transmission bendable distal part (130, TBDP), and transmission shaft region, TSR (132) between the TBDP (130) and TBPP (134) wherein movements of the TBPP (134) are transmitted to the TBDP (130) along the TSR (132) by the LMs (110), wherein the MTS (100) comprises a sub-region that is a transmission amplifier region, TAR, (135) in which the fictive tube (180) contains at least one plane-section (182) larger than that (184) of the TBDP (130).