Robotic End Effector Wrist Assembly Cable Routing
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Solution Overview
Problem
Robotic surgical systems face challenges with end effectors that require numerous cables and motors, leading to increased size, cost, and complexity, which hinders the development of smaller, more maneuverable surgical tools with enhanced capabilities.
Innovation Solution
The design of an end effector with a proximal hub, distal hub, and support hub, utilizing drive members and a pulley system to achieve articulation with fewer components, allowing for reduced cable and motor usage, and incorporating a monopolar tool for electrosurgical applications.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If four cables and motors are used for wrist assembly articulation, then articulation capability is achieved, but device complexity and cross-sectional area increase
Solution Approach 1:
The patent combines multiple cable functions into fewer cables by using a common cable path through the pulley system. Instead of requiring four separate cables for each degree of freedom, the invention uses fewer cables that are routed through pulleys to achieve multiple articulation movements, thereby reducing overall system complexity while maintaining full articulation capability.
Solution Approach 2:
The pulley system acts as an intermediary mechanism that translates linear cable movement into rotational articulation movements. The pulleys enable a single cable to control multiple joints or degrees of freedom by changing the direction and distribution of force, thus reducing the number of motors and cables needed while preserving articulation versatility.
2Adaptability or versatility
If multiple motors and cables are used, then articulation is achieved, but cross-sectional area of the tool increases
Solution Approach 1:
The invention merges multiple cable routing paths into a more compact configuration by having cables share common paths and use shared pulleys. This consolidation reduces the spatial requirements for cable accommodation, thereby decreasing the cross-sectional area of the end effector while maintaining full articulation functionality.
Solution Approach 2:
The pulley system enables cables to traverse through three-dimensional space rather than requiring parallel linear paths. By routing cables through pulleys that redirect force in multiple directions, the invention achieves complex articulation movements within a smaller cross-sectional footprint, effectively utilizing spatial dimensions to reduce tool size.
3Adaptability or versatility
If electrical cables are included for powered instruments, then electrosurgical capability is enabled, but space consumption increases
Solution Approach 1:
The end effector design incorporates a universal interface that can accommodate both mechanical cable-driven instruments and electrosurgical instruments with powered components. The same structural framework and cable routing system support multiple instrument types, including those requiring electrical power delivery, thereby enabling electrosurgical capability without requiring separate dedicated pathways that would increase overall volume.
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
This configuration minimizes the cross-sectional area and cost of surgical tools, enhances maneuverability, and supports more advanced surgical capabilities while reducing the complexity and size of robotic surgical systems.
Implementation Method 1
The end effector may further include a pulley system. The pulley system may include a first pulley, a second pulley, a third pulley, and a fourth pulley.
Data Source
AI summary
An end effector is provided for use and connection to a robot arm of a robotic surgical system including a proximal hub, a distal hub, and a support hub. The distal hub is coupled to two opposing upright supports of the proximal hub about a first pivot axis. The support hub is coupled to two opposing upright supports of the distal hub about a second pivot axis. First and second drive members are coupled to opposing sides of the support hub and a third drive member is coupled to the distal hub. Simultaneous proximal translation of the first drive member and the second drive member causes the distal hub to pivot about the first pivot axis and proximal translation of only one of the first drive member or the second drive member causes the support hub to pivot about the second pivot axis.