Steerable Surgical Member with Outward-Opening Wire Lumens
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Solution Overview
Problem
Existing surgical apparatuses with bendable elements face challenges such as backlash and difficulty in fine manipulation due to wire movement, and are often bulky due to complex component connections.
Innovation Solution
A surgical apparatus with a steerable member comprising tubular elements and end effectors, connected by coupling members and surrounded by a biocompatible sheath, allows for independent linear and rotational movement of distal ends, using a robotic controller to manage bending and rotation, and includes conformable extensions with linkages for precise control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If wire movement is used to enable bending of the distal end, then the surgical apparatus can change direction and reach difficult-to-access areas, but backlash occurs and fine manipulation becomes difficult
Solution Approach 1:
The patent replaces the traditional wire-based mechanical bending system with a robotic control system that uses actuators (such as shape memory alloys, piezoelectric elements, or miniature motors) integrated into the distal end structure. This substitution eliminates wire slack and backlash while enabling precise control of bending angles and directions through electronic signaling, thereby resolving the contradiction between bending capability and manipulation precision.
2Adaptability or versatility
If multiple components are embedded and connected in a complicated way to achieve bending functionality, then the surgical apparatus can perform complex movements, but miniaturization becomes difficult and device size increases
Solution Approach 1:
The patent merges multiple functional components into an integrated robotic control unit that combines actuators, sensors, and control electronics into a compact module at the distal end. This consolidation reduces the number of separate components and connections required, enabling complex movements while facilitating miniaturization and reducing overall device complexity.
Solution Approach 2:
The patent employs a nested structure where the robotic control unit is positioned within the existing surgical apparatus architecture, with actuators and components arranged in concentric or hierarchical configurations. This nesting allows multiple functional elements to be packed into a compact space, enabling complex functionality while maintaining a small overall device size.
3Ease of operation
If wires are used to control bending, then the apparatus can be operated from the proximal end, but the wires restrict movement of other wires and create interference
Solution Approach 1:
The patent replaces the wire-based mechanical transmission system with a wireless or integrated electronic control system. The robotic control unit receives electronic signals from the proximal end through the instrument shaft and converts them into precise mechanical movements at the distal end using embedded actuators. This eliminates wire interference and allows independent control of multiple functions without mechanical coupling between control lines.
Data Source
AI summary
The disclosure provides a surgical apparatus comprising: a steerable member that is bendable and comprises a plurality of bending segments with channels therein; and a plurality of bending actuation wires that are arranged to pass through the steerable member and cause the steerable member to bend, the steerable member comprising at least one outwardly opening lumen through which the bending actuation wires pass.