Pivoting Spring-Loaded Tissue Grasping Manipulator
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing manipulators for grasping tissue face challenges in stability, depth of grasp, and ease of use, especially in tight spaces and complex medical procedures, often requiring multiple steps and increasing the risk of complications.
Innovation Solution
A manipulator design featuring a pair of arms with grasping surfaces that are spring-loaded and pivot at fixed points, allowing for adjustable distance and counter-force application to securely grasp and hold tissue, even in deeper layers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of stationary object
If multiple manipulators are applied in several steps to grasp tissue in tight spaces, then the depth of grasp is increased, but the duration and complexity of the medical procedure increases
Solution Approach 1:
The grasping surface is nested within the manipulator arm structure, with the grasping surface pivotally connected to the arm. This allows the grasping function to be integrated into the manipulator itself, eliminating the need for separate grasping devices and reducing procedural complexity while maintaining the ability to grasp tissue at depth
Solution Approach 2:
The manipulator is divided into distinct functional segments: the arm for positioning and the pivotally connected grasping surface for tissue engagement. This segmentation allows each component to perform its specific function efficiently, reducing the need for multiple manipulators while achieving deep tissue grasp
2Stability of the object's composition
If multiple manipulators are applied in several steps to grasp tissue, then the stability of grasp is increased, but the duration of the medical procedure increases
Solution Approach 1:
The grasping surface is pre-configured with a pivotal connection that allows it to automatically engage and stabilize tissue upon reaching the target location. This preliminary configuration eliminates the need for multiple sequential manipulator applications, reducing procedure duration while maintaining grasp stability through the built-in pivotal engagement mechanism
3Device complexity
If the grasping surface is rigidly connected to the arm, then the structural simplicity is maintained, but the ability to grasp tissue with large surface and mass is reduced
Solution Approach 1:
The grasping surface is dynamically connected to the arm through a pivotal connection rather than a rigid fixed connection. This dynamic connection allows the grasping surface to pivot and adapt its orientation to accommodate tissue with large surface area and mass, significantly improving grasping capability while adding only minimal structural complexity through the pivot mechanism
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 manipulator effectively reduces the complexity and duration of medical procedures by providing a stable and secure grasp of tissues with large surface areas and masses, suitable for use in tight spaces and deeper layers.
Implementation Method 1
The first grasping surface and the second grasping surface extend toward each other, and are each arranged at an initial position relative to the respective arm from which they extend by a spring force
Implementation Method 2
When the counter force overcomes the spring force of the first grasping surface and the second grasping surface, the first grasping surface and the second grasping surface pivot at respective pivot points so that the distance between the distal ends of the first and second arms is reduced
Data Source
AI summary
A manipulator adapted to grasp and draw tissue comprises first and second arms having proximal ends and distal ends separated by a distance. First and second grasping surfaces each connected to and extending from respective distal ends of the first and second arms are biased toward each other by a respective spring force. When the first and second arms are actuated to reduce the distance, the manipulator is configured such that tissue arranged between the first and second grasping surfaces resist actuation of the first and second arms. The first and second arms are further actuatable to overcome the spring force of the first and second grasping surfaces so that the first and second grasping surfaces pivot at respective pivot points such that the distance between the distal ends of the first and second arms is reduced.