Offset Actuation for Surgical End Effector Rotation
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Solution Overview
Problem
Existing robotic surgical systems face challenges in implementing simultaneous rotation and multi-axis articulation of end effectors, especially when activation shafts are offset from the central longitudinal axis, which complicates precise tissue engagement and manipulation during minimally invasive surgeries.
Innovation Solution
A surgical tool with an elongate shaft and end effector featuring a multi-axis articulation joint and offset actuation members, including flexible torque transmission tubes and rotary actuators, allows for independent rotation and articulation of the end effector, enabling precise positioning and orientation through a robotic surgical system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If offset actuation members are used to enable rotation of the end effector, then rotation capability is improved, but device complexity increases
Solution Approach 1:
The actuation members are nested within the elongate shaft, with multiple actuation members and articulation members sharing the same internal space. The offset actuation members are positioned within the shaft lumen, allowing rotation functionality to be integrated without increasing external device dimensions, thereby managing complexity through spatial nesting.
Solution Approach 2:
The patent introduces rotation capability by adding an additional degree of freedom around the longitudinal axis of the elongate shaft. This dimensional addition allows the end effector to rotate independently while maintaining the existing articulation capabilities, enhancing versatility without fundamentally redesigning the entire system architecture.
2Manufacturing precision
If multi-axis articulation joint is implemented, then articulation precision is improved, but device complexity increases
Solution Approach 1:
The articulation system is segmented into multiple independent articulation members, each controlling a specific axis of motion. This segmentation allows precise control of each articulation degree of freedom while maintaining modularity, making the complex multi-axis joint more manageable and manufacturable through standardized components.
Solution Approach 2:
The articulation members are designed to perform multiple functions: they control articulation angles, transmit actuation forces, and maintain structural integrity. This multi-functionality reduces the need for separate components for each function, thereby reducing overall device complexity while maintaining articulation precision.
3Adaptability or versatility
If both rotation and articulation are enabled in one end effector, then surgical versatility is improved, but ease of operation deteriorates
Solution Approach 1:
The patent introduces independent actuation members that serve as intermediaries between the operator's controls and the end effector's multiple degrees of freedom. Each actuation member is independently controllable, allowing the operator to manage rotation and articulation separately through distinct control inputs, thereby maintaining ease of operation despite enhanced versatility.
Solution Approach 2:
The end effector system is designed with dynamic, independently controllable actuation members that can be activated or deactivated based on surgical needs. This dynamic control allows the operator to simplify operations by engaging only the necessary degrees of freedom for each specific surgical task, making the system easier to operate while maintaining full versatility when needed.
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
This configuration enhances control over the end effector, allowing for successful completion of surgical operations with greater precision and ease by enabling both rotation and multi-axis articulation, thereby improving the effectiveness of robotic surgery.
Implementation Method 1
The first actuation member includes a flexible torque transmission tube that extends through a center of the joint
Data Source
AI summary
Various surgical tools are provided with multi-axis articulation joints and with the ability to rotate distal to the joint. In one embodiment, a surgical tool is provided having an elongate shaft with an end effector disposed at a distal end of the elongate shaft. The end effector can have first and second jaws configured to grasp tissue and a sled or cutting element configured to advance through the jaws and cut tissue therein. A multi-axis articulation joint can be formed on the shaft or between the shaft and the end effector. The joint can allow articulation of the end effector in multiple directions. The end effector can be configured to rotate distal to the multi-axis articulation joint about a longitudinal axis of the elongate shaft. Methods for allowing rotation and articulation of the end effector are also provided.