Robotic Surgical Instrument Cassette Assemblies for End-Effector Control
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Solution Overview
Problem
Existing surgical instruments used in robotic systems face challenges in efficiently manipulating end effectors within limited access areas, requiring improved actuator mechanisms for precise control and movement.
Innovation Solution
The development of a robotic surgical system with a drive unit and surgical instrument featuring an elongated shaft assembly, end effector, and instrument cassette assembly, incorporating a cable actuator, rotation actuator, and axial actuator assemblies to remotely manipulate the end effector, allowing for precise control and movement through a combination of cable, rotation, and axial forces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robotic surgical system uses a cable actuator assembly with multiple cables extending from the cassette housing to the end effector, then the precision of end effector manipulation is improved, but the device complexity increases
Solution Approach 1:
The actuator system is divided into separate functional modules: a cable actuator assembly for manipulation, a rotation actuator assembly for rotational control, and an axial actuator assembly for linear positioning. Each module operates independently and can be optimized for its specific function while contributing to the overall precision of end effector manipulation.
Solution Approach 2:
The actuator assemblies are nested within the cassette housing structure, with the cable actuator assembly positioned to extend cables through the shaft assembly to the end effector, the rotation actuator assembly integrated into the shaft assembly for rotational control, and the axial actuator assembly positioned to provide axial force. This nested arrangement reduces overall device complexity by compacting the structure.
2Adaptability or versatility
If the rotation actuator assembly rotates the shaft assembly about the longitudinal axis to impart rotational force to the end effector, then the capability to manipulate end effectors in limited access areas is improved, but the device complexity increases
Solution Approach 1:
The shaft assembly serves multiple functions: it transmits rotational motion from the rotation actuator assembly to the end effector, provides a structural backbone for the instrument, and serves as a mounting structure for the cable actuator assembly and axial actuator assembly. This multi-functionality reduces the need for separate components and simplifies the overall device.
Solution Approach 2:
The belt drive shaft supporting a belt acts as an intermediary mechanism between the drive wheel and the shaft assembly, enabling rotational force transmission while allowing for compact integration within the cassette housing and reducing direct mechanical complexity.
3Measurement precision
If the axial actuator assembly axially translates the shaft assembly relative to the longitudinal axis to impart axial force to the end effector, then the precision of end effector positioning is improved, but the device complexity increases
Solution Approach 1:
The axial actuator assembly uses a dynamic mechanism where the drive arm pivots between different positions, allowing the shaft assembly to be axially translated as needed during surgical procedures. This dynamic positioning capability enables precise end effector placement while the compact pivot mechanism keeps the device complexity manageable.
Data Source
AI summary
A surgical instrument of a robotic surgical system includes an elongated shaft assembly, and end effector, and an instrument cassette assembly. The elongated shaft assembly has a proximal end portion and a distal end portion. The end effector is supported the distal end portion of the elongated shaft assembly. The instrument cassette assembly is supported on the proximal end portion of the elongated shaft assembly. The instrument cassette assembly includes a cassette housing and an actuator system supported in the cassette housing. The actuator system is operably coupled to the end effector for operating the end effector.