Push-pull stapler two degree of freedom wrist mechanism
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Minimally invasive surgical techniques face challenges in providing precise control and dexterity for surgeons during remote operations, particularly in manipulating surgical instruments with multiple degrees of freedom within a confined surgical site, which affects the accuracy and efficiency of procedures.
Innovation Solution
A push-pull stapler with a two-degree of freedom wrist mechanism is integrated into a teleoperated surgical system, allowing for independent pitch and yaw movements of the end effector, enabling precise control and manipulation of surgical instruments, such as jaws, to perform tasks like stapling with enhanced precision and flexibility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a teleoperated surgical system is used to allow remote operation, then the surgeon can operate from outside the sterile field, but the control precision and dexterity for manipulating instruments within the confined surgical site deteriorates
Solution Approach 1:
The wrist mechanism incorporates two degrees of freedom (pitch and yaw) that allow dynamic adjustment of the end effector's orientation. This dynamic capability enables the surgeon to manipulate the instrument with precise control angles while maintaining remote operation, resolving the contradiction between ease of remote operation and control precision.
Solution Approach 2:
By adding the wrist mechanism with pitch and yaw rotations, the system transitions from simple linear motion to multi-dimensional maneuvering. This dimensional enhancement allows the end effector to reach confined surgical sites with precise angular control, improving control precision while maintaining remote operation capability.
2Measurement precision
If a two-degree of freedom wrist mechanism is added to enable precise control, then the maneuverability and precision of the end effector improve, but the device complexity increases
Solution Approach 1:
The wrist mechanism is segmented into two independent rotational degrees of freedom (pitch and yaw), each controlled separately. This segmentation allows for precise control through independent adjustment of each degree of freedom, achieving high control precision while keeping the mechanism design modular and manageable.
Solution Approach 2:
The two-degree of freedom wrist mechanism serves multiple functions: it enables pitch rotation for vertical angle adjustment, yaw rotation for horizontal angle adjustment, and positions the end effector in confined surgical sites. This multi-functionality achieves high control precision without requiring multiple separate mechanisms, thereby limiting the increase in device complexity.
3Adaptability or versatility
If the end effector is designed for multiple functions (stapling, cutting, grasping), then the versatility of the surgical instrument improves, but the device complexity increases
Solution Approach 1:
The end effector is designed as a universal tool that can perform stapling, cutting, and grasping functions through a single integrated structure. The jaw members and associated mechanisms are configured to execute multiple surgical tasks, improving versatility while avoiding the need for multiple separate instruments, thereby limiting the increase in device complexity.
Solution Approach 2:
The end effector incorporates dynamic components such as movable jaw members and actuation mechanisms that can adapt its configuration for different functions. This dynamic design allows the same structure to perform stapling, cutting, and grasping operations, achieving functional versatility without requiring multiple static instrument designs, thus limiting complexity increase.
Data Source
Figure 1
Figure 2~3
Figure 4~5A
AI summary
A surgical instrument is provided comprising: a first jaw having a distal end and a proximal end wherein the proximal end of the first jaw is attached to a lever arm that includes a levering cam slot having a proximal portion and a distal portion; a second jaw having a distal end and a proximal end wherein the proximal end of the second jaw is secured to a base that includes a linear cam slot aligned with a longitudinal axis of the second jaw axis and having a proximal portion and a distal portion; a pivot rotatably mounting the first jaw to the second jaw, wherein a pivot axis extends between the first jaw and the lever arm; a cam pin configured to extend through and engage the levering cam slot and the linear cam slot; a linear drive member operatively coupled to drive the cam pin to follow the linear cam slot; wherein the cam pin imparts a lever force upon the lever arm that rotates the first jaw away from the second jaw when the cam pin contacts the distal portion of the levering cam slot and wherein the cam pin imparts a lever force upon the lever arm that rotates the first jaw toward the second jaw when the cam pin contacts the proximal end portion of the levering cam slot