Robotic Surgical Continuum Joint Actuation via Master-Slave Decoupling
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Solution Overview
Problem
Current robotic actuation methods for laparoscopic surgical devices face challenges in enhancing dexterity due to bulkier shafts resulting from cable-based articulation mechanisms, which are not well-suited for traditional robotic systems.
Innovation Solution
A robotic surgical system with an electromechanical arm, motor housing, and an articulation actuation system that includes a master joint and slave joint assembly, where the articulation actuation system directly acts on the master joint without directly acting on the slave joint, allowing for parallel movement and articulation of the end effector in multiple planes while maintaining the central body's longitudinal axis static.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If cable-based articulation mechanisms are used to enhance dexterity, then the end effector can articulate in multiple planes, but the shaft becomes bulkier
Solution Approach 1:
The patent extracts the articulation actuation mechanism from the shaft by using a robotic system where the actuation system is separated from the surgical instrument. The master joint and slave joint are coupled through a control system rather than direct mechanical connection within the shaft, eliminating the need for cables and guide sleeves inside the shaft, thereby reducing shaft volume while maintaining articulation capability.
Solution Approach 2:
The patent introduces an intermediary control system that includes a master joint operably coupled to a slave joint through a control mechanism. This intermediary system allows articulation to be commanded from outside the shaft rather than requiring direct actuation components within the shaft, resolving the contradiction between articulation capability and shaft compactness.
2Adaptability or versatility
If continuum joints are designed for hand held devices, then dexterity is improved, but the actuation mechanisms create challenges for robotic actuation
Solution Approach 1:
The patent creates a universal actuation interface where the master joint can be operated by various robotic systems. The articulation actuation system is designed to be compatible with robotic actuators while maintaining the continuum joint's ability to provide continuous flexion, making the system adaptable to different robotic platforms without requiring device-specific actuation mechanisms.
Solution Approach 2:
The patent replaces traditional mechanical cable-based actuation systems with a robotic actuation system that uses controlled movement of the master joint to articulate the slave joint. This substitution eliminates the need for complex mechanical transmission elements within the shaft, reducing actuation mechanism complexity while maintaining dexterity.
Data Source
AI summary
Robotic surgical systems are provided. In one exemplary embodiment, a robotic surgical system includes an electromechanical arm, a motor housing, a tool shaft, an end effector, and an articulation actuation system. The tool shaft includes a central body and a joint assembly having master and slave joints. The end effector is configured to move in response to movement of the slave joint. The articulation actuation system is configured to act directly on the master joint without directly acting on the slave joint to move the master joint in at least one plane. The master and slave joints are operably coupled to each other such that movement of the master joint causes parallel movement of the slave joint while maintaining a position of a longitudinal axis of the central body of the tool shaft to thereby effect articulation of the end effector. Surgical systems and methods are also provided.