Reusable Robotic Surgical End Effector With Independent Pivoting
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Solution Overview
Problem
Conventional medical instruments used in robot systems have complex and costly designs, limiting flexibility and reusability due to thermally unstable components, necessitating frequent replacements and impacting ecological and economic sustainability.
Innovation Solution
A medical instrument design featuring two drive elements with independently pivotable end effector elements, a shaft with a hinge joint, and actuator elements for enhanced freedom of movement and reliability, using thermally stable materials to ensure durability through sterilization processes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional medical instruments are used in robot systems, then reliable and precise control is achieved, but the design becomes extremely complex and cost-intensive
Solution Approach 1:
The medical instrument is divided into modular components: a shaft with hinge joint for positioning, drive elements for actuation, and an end effector with independently pivotable elements. This segmentation allows each component to be optimized independently while maintaining overall reliability, reducing the complexity burden on any single component.
2Measurement precision
If conventional medical instruments are used in robot systems, then precise control is achieved, but reusability is limited due to thermally unstable components
Solution Approach 1:
The patent employs thermally stable materials and design parameters that allow the instrument to withstand sterilization processes. The shaft, hinge joint, and end effector are designed with thermal stability in mind, enabling repeated sterilization and reuse while maintaining control precision through the robust mechanical linkages and pivot mechanisms.
3Reliability
If conventional medical instruments are replaced frequently due to thermal instability, then reliability is maintained, but operating costs increase and sustainability is impacted
Solution Approach 1:
The instrument design enables recovery and reuse of the entire medical instrument through sterilization processes. The thermally stable construction allows the shaft, drive elements, and end effector to be recovered and reused multiple times, eliminating the need for frequent replacements and improving economic sustainability while maintaining reliability.
4Adaptability or versatility
If the end effector elements are made independently pivotable, then freedom of movement is increased, but device complexity increases
Solution Approach 1:
The end effector is segmented into multiple independently pivotable elements, each capable of movement about a pivot axis. This segmentation provides high freedom of movement and adaptability for different surgical tasks while keeping each individual pivot mechanism relatively simple, balancing versatility with manageable complexity.
Data Source
AI summary
The disclosure relates to a medical instrument comprising: two drive elements which can be moved at least along their longitudinal direction, and an end effector which has at least two cooperating end effector elements, wherein the end effector elements are each coupled to one of the drive elements in a movement-transmitting manner and are pivotable about a pivot axis independently of one another.