Robotic Surgical Stapling Tool With Articulation Lock and Cam Drive
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Solution Overview
Problem
Existing minimally invasive robotic surgical systems struggle to generate the necessary forces for effective tissue cutting and fastening.
Innovation Solution
A surgical stapling instrument with an actuation system that generates multiple control motions, featuring a surgical end effector with rotatable camming members and staple drivers to drive surgical staples into forming contact with an anvil, and an anvil that moves between open and closed positions in response to closure motions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If traditional robotic surgical systems are used, then minimally invasive surgery can be performed, but the magnitude of forces required to effectively cut and fasten tissue cannot be generated
Solution Approach 1:
The patent employs dynamic elements including rotatable camming members that convert rotational motion into linear driving force, movable anvil components that respond to closure motions, and articulation mechanisms that enable multi-directional movement. These dynamic components allow the system to generate high forces through mechanical advantage while maintaining the ability to adapt to different surgical requirements
Solution Approach 2:
The surgical instrument is divided into distinct functional modules including the actuation system, end effector with staple cartridge, movable anvil, and articulation mechanisms. This segmentation allows each component to be optimized independently for its specific function while collectively generating the required force magnitude through coordinated operation
2Adaptability or versatility
If the anvil is made movable between open and closed positions, then tissue fastening capability is improved, but device complexity increases
Solution Approach 1:
The patent combines the movable anvil mechanism with the existing actuation system and staple deployment mechanism. The anvil's movement is integrated with the camming members and pusher members, allowing a single actuation sequence to coordinate staple formation, tissue clamping, and anvil positioning, thereby reducing overall system complexity despite the added functionality
3Manufacturing precision
If rotatable camming members are used to drive staples into forming contact with the anvil, then staple formation precision is improved, but device complexity increases
Solution Approach 1:
The rotatable camming members serve as intermediary elements that translate rotational actuation into precise linear motion of the pusher members. This camming mechanism provides mechanical advantage and precise control over the staple formation process, ensuring that staples are driven into forming contact with the anvil at the correct position and orientation
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
Enhances the ability to effectively cut and fasten tissue, improving the dexterity and efficiency of minimally invasive surgical procedures.
Implementation Method 1
The actuation member has rotatable staple camming members thereon that correspond to each one of the at least two staple lines such that as the actuation member is driven from the starting to the ending position, each rotatable camming member is rotated into camming driving engagement with the surgical staples
Implementation Method 2
The surgical tool includes an articulation joint that enables a surgical end effector to be articulated about an articulation axis that is substantially transverse to a longitudinal tool axis
Implementation Method 3
A distal end of the closure tube assembly includes a closure tube that is rotatable about the longitudinal tool axis. A proximal end of the closure tube assembly includes a closure tube assembly gear segment that is in gear engagement with a driven disc
Data Source
AI summary
A surgical stapling instrument. Various embodiments include an actuation system for selectively generating a plurality of control motions. A surgical end effector is operably coupled to the actuation system. The actuation system interfaces with an actuation member configured to operably engage rotatable camming members to fire staples within the end effector into forming contact with an anvil portion of the end effector.