Robotic Stapler Closure Subsystem With Nonlinear Anvil Motion
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Solution Overview
Problem
Existing robotic surgical systems lack a dedicated surgical stapling instrument that integrates seamlessly into the surgical workflow, failing to provide integrated capabilities for closing, articulating, and firing the end effector.
Innovation Solution
The surgical instrument includes a closure subsystem with a cam gear and yoke pin mechanism that provides a non-linear movement profile for the anvil, an articulation subsystem with independent bushings for enhanced articulation, and a roll subsystem for improved access, all actuated by a robotic arm.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a multi-purpose robotic surgical system is used, then versatility is improved, but integration of dedicated stapling capabilities deteriorates
Solution Approach 1:
The surgical instrument is divided into distinct functional subsystems (closure subsystem, articulation subsystem, roll subsystem, firing subsystem), each independently actuated by separate robotic outputs. This segmentation allows the multi-purpose robot to perform dedicated stapling functions through coordinated activation of multiple subsystems, resolving the contradiction between versatility and integration.
Solution Approach 2:
The surgical instrument integrates multiple functions (closing, articulating, rolling, firing) into a single end effector assembly that can be attached to a multi-purpose robotic system. This universal design enables the robot to perform both general surgical tasks and specialized stapling procedures, maintaining versatility while achieving dedicated stapling capability.
2Manufacturing precision
If a cam gear with non-linear movement profile is used, then manufacturing precision is improved, but device complexity increases
Solution Approach 1:
The cam gear incorporates a non-linear cam track with varying curvature to produce the desired non-linear movement profile of the anvil. The curved geometry of the cam track inherently provides precise motion control through its geometric design, achieving manufacturing precision while using a relatively simple cam-based mechanism rather than complex multi-component linkages.
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
Enables precise and efficient stapling and cutting operations by providing integrated capabilities for closing, articulating, and firing the end effector, enhancing surgical precision and dexterity.
Implementation Method 1
a cam gear (210) rotatably engaged with the first closure input puck (202)... the cam track (214) is shaped to provide a non-linear movement profile of the anvil
Data Source
AI summary
Systems and subsystems for closing an end effector of a stapler are disclosed. More specifically, the present disclosure relates to systems, devices, and subsystems for attachments for robotic surgeries. The surgical instrument is a robotic attachment. The surgical instrument includes a closure subsystem that moves independently of other subsystems that are operable independently of each other.