Robotic End-Effector Motion Transfer for Precise Surgical Control
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Solution Overview
Problem
Existing robotic instruments for minimal invasive surgery lack the ability to provide precise and versatile motion control for end-effector assemblies, limiting their effectiveness in realistic surgical environments.
Innovation Solution
A robotic instrument system with elongated elements and motion transfer mechanisms, including gears and cables, that allow independent rotation and adjustment of working members, enabling precise control of end-effector assemblies through a drive assembly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional robotic instruments are used for minimal invasive surgery, then the surgical procedure can be performed, but the motion control precision and versatility for end-effector assemblies is insufficient
Solution Approach 1:
The robotic instrument is divided into multiple independent elongated elements (first elongated element for actuation, second elongated element for roll adjustment) that can be controlled independently. Each element has its own drive mechanism and motion transfer system, allowing separate control of different end-effector motions without interference between control functions.
Solution Approach 2:
The first elongated element is nested within the second tube (second elongated element), creating a compact hierarchical structure. This nesting allows multiple functional elements to occupy the same spatial envelope, enabling versatile motion control while maintaining a compact instrument profile suitable for minimal invasive surgery.
2Adaptability or versatility
If multiple elongated elements are used to provide independent motion control, then the versatility of end-effector control is improved, but the device complexity increases
Solution Approach 1:
The first elongated element is nested within the second tube (second elongated element), creating a compact hierarchical structure. This nesting allows multiple functional elements to occupy the same spatial envelope, enabling versatile motion control while maintaining a compact instrument profile suitable for minimal invasive surgery.
Solution Approach 2:
The motion transfer mechanisms use standardized gear and cable assemblies that can transfer different types of motions (actuation, roll adjustment) through similar mechanical principles. This universality allows the system to handle multiple control functions with comparable structural approaches, reducing overall system complexity despite increased functionality.
3Measurement precision
If motion transfer mechanisms with gears are used, then the precision of motion control is improved, but the manufacturing complexity increases
Solution Approach 1:
Cables are introduced as intermediary elements that connect the drive assemblies to the motion transfer mechanisms. These cables transmit forces and motions through flexible connections, allowing the rigid gear mechanisms to be positioned optimally for precision while simplifying the coupling between distant components and reducing manufacturing alignment requirements.
4Adaptability or versatility
If independent rotation of elongated elements is enabled, then the range of motions for end-effector assembly is expanded, but the control system complexity increases
Solution Approach 1:
The control system is segmented into independent control channels for each elongated element. The first drive assembly controls the first elongated element for primary actuation, while the second drive assembly controls the second elongated element for roll adjustment. This segmentation allows each control channel to be optimized independently, managing overall control complexity through modular organization.
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 system provides enhanced precision and versatility in controlling end-effector assemblies, allowing for a wider range of motions and improved surgical performance in minimal invasive surgery.
Implementation Method 1
The first motion transfer mechanism of the first elongated element may include a plurality of teeth. The plurality of teeth of the first elongated element may be configured to mate with a first plurality of teeth of the end-effector assembly.
Implementation Method 2
The flexible portion of the first elongated element may laser cut to increase flexibility.
Implementation Method 3
The second end of the first elongated element is configured to engage a drive assembly. The second motion transfer mechanism is configured to transfer a first motion of the drive assembly to the rotational motion of the first elongated element.
Data Source
AI summary
An apparatus for controlling an end-effector assembly is provided. The apparatus includes a elongated element configured to engage the end-effector assembly and a drive assembly. A first motion transfer mechanism is disposed at an end of the elongated element. The first motion transfer mechanism is configured to transfer a rotational motion of the elongated element to a motion of the end-effector assembly. A second motion transfer mechanism is disposed at the second end of the elongated element. The second motion transfer mechanism is configured to transfer a motion of the drive assembly to the rotational motion of the elongated element.