Multi-Joint Surgical End Tool With Pitch Wire Compensation
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Solution Overview
Problem
Current surgical robots face challenges in performing smooth pitch and yaw motions due to jaw wire movement during pitch rotation, which affects the precision and efficiency of laparoscopic surgeries.
Innovation Solution
A multi-joint surgical instrument with an end tool and driving part configuration that allows independent pitch and yaw rotations, compensating for jaw wire movement by using pulleys and wires arranged to maintain consistent overall length despite changes in jaw wire length.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the surgical robot performs pitch rotation, then the end tool achieves pitch motion, but jaw wire length changes causing motion imprecision
Solution Approach 1:
The patent introduces an intermediary compensation mechanism consisting of a compensation wire and pulley system. When the end tool performs pitch rotation, the compensation wire unwinds from one pulley and winds onto another, generating a compensating force that counteracts the unwanted jaw wire length changes. This intermediary system acts as a mediator between the pitch motion and the jaw wire, eliminating the harmful effect of jaw wire movement on surgical precision.
2Adaptability or versatility
If the surgical robot enables both pitch and yaw rotations, then the end tool achieves multi-degree freedom motion, but the complexity of wire control increases
Solution Approach 1:
The patent segments the control system into independent modules: a yaw rotation mechanism that controls jaw opening/closing, and a pitch rotation mechanism with compensation. Each degree of freedom has its own dedicated wire and pulley system. The yaw wire controls jaw actuation independently, while the pitch wire with compensation mechanism handles pitch motion separately. This segmentation allows complex multi-DOF motion to be achieved through simpler, independent control channels, reducing overall system complexity.
3Ease of operation
If the jaw wire length changes during pitch rotation, then the end tool achieves pitch motion, but the overall length consistency is compromised
Solution Approach 1:
The patent employs parameter changes in the wire length configuration to maintain overall consistency. The compensation mechanism dynamically adjusts the effective length of the jaw wire by having the compensation wire unwind and wind on pulleys during pitch rotation. This parameter adjustment ensures that while individual wire segments change length, the overall wire system maintains consistent tension and length characteristics, preserving both pitch rotation capability and wire length stability.
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
Enables smooth and precise pitch and yaw motions, enhancing the accuracy and efficiency of surgical operations, particularly in laparoscopic surgeries.
Implementation Method 1
A multi-joint surgical instrument with an end tool and driving part configuration that allows independent pitch and yaw rotations, compensating for jaw wire movement by using pulleys and wires arranged to maintain consistent overall length despite changes in jaw wire length
Data Source
AI summary
The present disclosure relates to an end tool of a surgical instrument, and more particularly, to an end tool of a surgical instrument capable of being mounted on a robot arm or operated manually for use in laparoscopic surgery or various surgeries, the multi-joint type surgical device capable of independently and smoothly performing a pitch motion and a yaw motion/actuation motion by compensating for jaw wire movement that occurs during the pitch motion.