Robotic Surgical Instrument Cassettes for Precise End-Effector Control
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Solution Overview
Problem
Existing robotic surgical instruments face challenges in efficiently manipulating end effectors within limited access areas due to the complexity of actuating mechanisms, which can hinder precise surgical operations.
Innovation Solution
The introduction of a robotic surgical system with a drive unit and surgical instruments featuring an elongated shaft assembly, end effector, and an instrument cassette assembly that includes a cable actuator, rotation actuator, and axial actuator system, allowing for precise manipulation of the end effector through a combination of cable, rotational, and axial forces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a complex actuating mechanism is used to manipulate the end effector, then the manipulation capability is improved, but the device complexity increases
Solution Approach 1:
The actuating mechanism is divided into three independent actuator assemblies (cable actuator, rotation actuator, axial actuator), each responsible for a specific degree of freedom. This segmentation allows complex manipulation to be achieved through simpler, specialized components rather than a single complex mechanism.
Solution Approach 2:
The instrument cassette assembly serves multiple functions by housing all three actuator assemblies and providing a unified interface for controlling the end effector. This multi-functional design consolidates complexity into a single modular unit that can perform various manipulation tasks.
2Measurement precision
If multiple actuator assemblies are integrated into the instrument cassette, then the manipulation precision is improved, but the device complexity increases
Solution Approach 1:
Each actuator assembly is designed as a separate module with specific functions: cable actuator for grasping, rotation actuator for rotational movement, and axial actuator for linear movement. This segmentation enables precise control of each degree of freedom independently, improving overall precision while managing complexity through modular design.
Solution Approach 2:
The three actuator assemblies are nested within the instrument cassette housing, with compact arrangements that allow multiple mechanisms to coexist in a limited space. This nesting approach maintains precision while minimizing the overall footprint and organizing complexity efficiently.
3Volume of moving object
If the actuator system is compacted into the cassette housing, then the instrument size is reduced, but the ease of manufacture decreases
Solution Approach 1:
The actuator assemblies are manufactured as separate components that can be produced using standard processes, then assembled into the cassette housing. This segmentation simplifies manufacturing by allowing parallel production and specialized fabrication of each module before final assembly.
Solution Approach 2:
The instrument cassette assembly merges all three actuator assemblies and their support structures into a single integrated housing unit. This combining approach reduces the number of separate components that need to be assembled, simplifying the overall manufacturing process while maintaining a compact form factor.
Data Source
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AI summary
A surgical instrument of a robotic surgical system includes an elongated shaft assembly, and end effector, and an instrument cassette assembly. The elongated shaft assembly has a proximal end portion and a distal end portion. The end effector is supported the distal end portion of the elongated shaft assembly. The instrument cassette assembly is supported on the proximal end portion of the elongated shaft assembly. The instrument cassette assembly includes a cassette housing and an actuator system supported in the cassette housing. The actuator system is operably coupled to the end effector for operating the end effector.