Passive Trocar Holder With Pivoting Brake Mechanism

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Solution Overview

Problem

Existing surgical holding devices for trocars are complex, space-consuming, and limit the surgeon's ability to perform delicate procedures, often requiring remote control and lacking haptic feedback, while passive holding devices restrict movement and are not adaptable for multiple instruments.

Innovation Solution

A passive holding device with a pivoting mechanism and brake system that allows four degrees of freedom at a stationary rotary point, enabling gentle manipulation of surgical instruments with manual or motorized operation, and a modular surgical system that can be expanded to handle multiple instruments with position determination and control.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Extent of automation

If surgical robots or electronically controllable instruments are used, then surgical tasks can be automated and surgeon workload reduced, but device complexity increases and spatial distance between surgeon and patient increases

Engineering Contradiction:

Improveautomation of surgical tasksVSAvoidcomplexity of holding device

Core Design Contradiction:

Extent of automationVSDevice complexity

Solution Approach 1:

The holding device is divided into functionally independent modules: a passive holding mechanism for the trocar and separate brake units for controlling instrument movement. Each brake unit can be independently activated to provide controlled friction braking, allowing automated or remote control of specific functions without requiring a fully integrated complex system.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The device incorporates dynamically controllable brake units that can be activated or deactivated as needed. The friction-based braking mechanism allows for dynamic adjustment of instrument movement control, enabling the system to transition between fully manual and partially automated operation modes.

Inventive Principle:

Principle #15Dynamics

2Extent of automation

If surgical robots or electronically controllable instruments are used, then surgical tasks can be automated, but spatial distance between surgeon and patient increases which is not desired

Engineering Contradiction:

Improveautomation of surgical tasksVSAvoiddistance between surgeon and patient

Core Design Contradiction:

Extent of automationVSLength of moving object

Solution Approach 1:

The passive holding device with friction brake units serves as an intermediary mechanism between the surgeon and the surgical instrument. It enables automated or remote control of instrument positioning and movement control without requiring complex robotic arms or telemanipulators that would increase the physical distance between surgeon and patient.

Inventive Principle:

Principle #24Intermediary (Mediator)

3Stability of the object's composition

If passive holding devices clamp the instrument preventing all degrees of freedom, then instrument position is stable, but movement is restricted and fixation must be released to change position

Engineering Contradiction:

Improvestability of instrument positionVSAvoidease of position change

Core Design Contradiction:

Stability of the object's compositionVSEase of operation

Solution Approach 1:

The brake units are designed to be dynamically controllable, allowing the system to switch between a clamped state (for stability) and a released state (for position changes). The friction-based braking provides stable holding when activated, while allowing smooth movement when deactivated, eliminating the need for complete fixation release.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

Instead of clamping the entire instrument rigidly, the brake units apply localized friction control at specific points on the instrument shaft. This allows selective control of instrument movement while maintaining flexibility and ease of repositioning without compromising overall stability during use.

Inventive Principle:

Principle #3Local quality

4Manufacturing precision

If holding devices are designed for specific trocars, then holding precision is improved, but versatility for using various instruments is limited

Engineering Contradiction:

Improveprecision of trocar holdingVSAvoidversatility for various instruments

Core Design Contradiction:

Manufacturing precisionVSAdaptability or versatility

Solution Approach 1:

The holding device is designed with a universal gripping mechanism that can accommodate different trocar and instrument types. The brake units apply friction control at locations that are common to various instrument designs, allowing the same device to precisely hold multiple instrument types without requiring specialized configurations for each.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Data Source

PatentUS11771461B2Passive holding device, modular surgical system and method for manipulating a trocar

Publication Date: 2023.10.03 KARL STORZ SE & CO KG

AI summary

The present application provides a passive holding device for handling a trocar and a modular surgical system. The passive holding device has a fastening device with a coupling portion. A pivoting mechanism is connected to the coupling portion via a rotary joint. The pivoting mechanism has two L-shaped branches arranged parallel to one another, each having a short leg that is connected to a long leg via a pivot joint. The short leg of the first branch is longer than the short leg of the second branch and is connected to the long leg via a rotary shaft. The trocar holder has a gripping device and has an instrument brake. A tilting brake is arranged at the coupling portion, operatively connected to the rotary joint, and a pivoting brake is arranged at the coupling portion operatively connected to at least one of the terminal pivot joints.