Surgical instrument with automatically reconfigurable articulating end effector
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Solution Overview
Problem
Current surgical instruments require manual repositioning and rearticulation of the end effector after each cutting and fastening stroke, leading to inaccuracies and inefficiencies in procedures that necessitate repeated firings at the same location within a patient.
Innovation Solution
A surgical instrument with an automatically articulatable end effector, featuring a motorized articulation joint assembly and sensors that allow the end effector to automatically return to a desired or previous articulation state, enabling precise and repeatable positioning without manual intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual repositioning and rearticulation of the end effector is performed after each cutting/fastening stroke, then the instrument can be reused, but accuracy and efficiency deteriorate due to repeated manual intervention
Solution Approach 1:
The end effector automatically repositions and rearticulates itself after each cutting/fastening stroke by recalling stored articulation states, eliminating the need for manual repositioning by the surgeon. The system serves itself by using sensors to detect the post-fire position and motors to restore the previous articulation state automatically.
Solution Approach 2:
Sensors detect the actual position of the end effector after firing and provide feedback to the control system. The control system uses this feedback information to automatically command the motors to return the end effector to its stored articulation state, creating a closed-loop control system that ensures accurate repositioning.
2Manufacturing precision
If manual repositioning and rearticulation is performed after each stroke, then the instrument structure remains simple, but manufacturing precision and repeatability worsen
Solution Approach 1:
The patent replaces manual mechanical manipulation with an automated electromechanical system. Motors replace manual articulation actions, and sensors replace manual positioning verification. This substitution achieves higher precision while the added complexity is confined to the automated system rather than the overall instrument structure.
Solution Approach 2:
The system stores articulation state information (angular positions) in memory and automatically replicates these positions during subsequent operations. Instead of manually replicating the position, the system copies the stored articulation data and uses motors to reproduce the exact same angular configuration, ensuring high repeatability.
3Reliability
If the end effector is manually rearticulated to the same position, then the procedure can continue, but reliability worsens due to potential positioning errors
Solution Approach 1:
The end effector automatically performs the rearticulation action that would otherwise require manual intervention. The system monitors its own position via sensors and autonomously corrects its articulation state, eliminating human error in the process and thereby improving reliability without reducing ease of operation.
Solution Approach 2:
Sensors continuously monitor the articulation position and provide feedback to the control system. This closed-loop feedback ensures that the end effector returns to the exact correct position, improving reliability. The ease of operation is maintained as the system handles the complexity of positioning automatically.
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
Enhances accuracy and repeatability in repositioning the end effector, streamlining procedures by allowing automatic articulation to previous positions, reducing the need for manual repositioning and improving efficiency during repeated cutting and fastening operations.
Implementation Method 1
The joint assembly comprises at least one motor for articulating the end effector relative to the shaft
Implementation Method 2
The joint assembly also comprises at least one articulation sensor for sensing articulation of the end effector relative to the shaft
Data Source
AI summary
A surgical instrument, such as a surgical cutting and fastening instrument, with an automatically articulatable end effector. The surgical instrument may comprise an end effector, a shaft, and an articulatable joint assembly connected between the end effector and the shaft. The joint assembly comprises at least one motor for articulating the end effector relative to the shaft. The joint assembly comprises at least one articulation sensor for sensing articulation of the end effector relative to the shaft. The instrument further comprises a control unit in communication with the articulation sensor and the motor. The control unit comprises at least one memory unit for storing articulation data from the at least one articulation sensor. When activated, the control unit sends control signals to the motor of the joint assembly to articulate automatically the end effector to a desired position based on the articulation data from the articulation sensor that is stored in the memory unit of the control unit.