Multi-Pivot Surgical Wrist for Precise Single-Plane Articulation
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Solution Overview
Problem
Existing robotic surgical systems lack the ability to provide enhanced maneuverability and ease of use during minimally invasive procedures, particularly in endoscopic and laparoscopic surgeries, due to limitations in articulation and control of surgical instruments.
Innovation Solution
The development of a robotic system with a multi-pivot, single plane articulable wrist that incorporates multiple articulation links pivotably coupled in series, allowing for enhanced articulation and control of surgical instruments through a cable-driven motion system, enabling precise manipulation and improved ergonomic positioning for surgeons.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robotic system includes an articulable wrist joint with cable-driven motion system, then the degrees of freedom in movement and natural hand-like articulation are improved, but the device complexity increases
Solution Approach 1:
The wrist joint is segmented into multiple articulation links (first articulation link, second articulation link, third articulation link) that are pivotably coupled in series. Each link provides a specific degree of freedom, allowing the system to achieve complex hand-like articulation through coordinated movement of simpler individual segments rather than requiring a single complex joint mechanism.
Solution Approach 2:
The cable-driven motion system uses a nested arrangement where drive cables extend through multiple articulation links in sequence. The cables are routed through the first articulation link, then the second articulation link, and finally the third articulation link, creating a compact integrated structure where control elements are nested within the mechanical linkage hierarchy.
2Ease of operation
If multiple articulation links are pivotably coupled in series, then the maneuverability and ease of operation are improved, but the device complexity increases
Solution Approach 1:
The series-coupled articulation links serve multiple functions simultaneously: they provide the mechanical degrees of freedom for hand-like articulation, guide the drive cables through their structure, and create a compact configuration that reduces spatial requirements. This multi-functionality allows the complex mechanism to achieve ease of operation without proportionally increasing overall system complexity.
3Measurement precision
If drive cables extend through multiple articulation links, then the articulation control precision is improved, but the device complexity increases
Solution Approach 1:
The drive cables act as intermediaries that transmit control forces from the actuation mechanism through each articulation link to achieve precise angular positioning. By extending cables through multiple links in series rather than using direct actuation at each joint, the system achieves coordinated control of multiple degrees of freedom with reduced mechanical complexity at each individual link.
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
The system provides improved ease of use and enhanced maneuverability during minimally invasive procedures, allowing for more natural hand-like articulation and reduced strain on surgeons, while maintaining precise control and reducing clutter in the operating room.
Implementation Method 1
A user (e.g., a surgeon) is able to remotely operate the end effector by grasping and manipulating in space one or more controllers that communicate with a tool driver coupled to the surgical instrument. User inputs are processed by a computer system incorporated into the robotic surgical system, and the tool driver responds by actuating the cable driven motion system and thereby actively controlling the tension balance in the drive cables. Moving the drive cables articulates the end effector to desired angular positions and configurations.
Data Source
AI summary
A robotic surgical tool includes a drive housing, an elongate shaft extending from the drive housing and having an end effector arranged at a distal end of the elongate shaft, and an articulable wrist interposing the end effector and the elongate shaft, the articulable wrist including a plurality of articulation links including at least a first articulation link, a second articulation link, and a third articulation link. The first articulation link is pivotably coupled to the second articulation link at a first coupling interface, the second articulation link is pivotably coupled to the third articulation link at a second coupling interface, and the first and third articulation links are pivotably coupled at a third coupling interface. The third coupling interface axially interposes the first and second coupling interfaces along a longitudinal length of the articulable wrist.