Robotic Surgical Instrument Shaft Insertion With Sealed Drive Belts
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Solution Overview
Problem
Existing minimally invasive surgical instruments face challenges in efficiently inserting and maneuvering elongated shafts with precise control, particularly in robotic systems, which can lead to increased complexity and reduced efficacy in procedures like endoscopy and laparoscopy.
Innovation Solution
The integration of a drive belt system within the robotic surgical tool, including a drive gear and idler rollers, allows for z-axis translation of the shaft through a handle, enhancing the maneuverability and control of the instrument's elongate shaft, while a seal system maintains a sealed interface during movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional mechanical mechanisms (cables, rods) are used to articulate the end effector, then the system can achieve movement and articulation, but the device complexity increases and the ease of operation decreases
Solution Approach 1:
The patent replaces traditional cable and rod mechanical mechanisms with a belt-driven pulley system. The belt is routed through the shaft and connected to pulleys at the distal end, allowing articulation through rotational movement of the pulleys rather than linear cable tensioning. This substitution simplifies the actuation mechanism while maintaining the ability to articulate the end effector with precision.
Solution Approach 2:
The patent employs a flexible belt as the primary transmission element instead of rigid rods or cables. The belt can bend and flex as it passes through the shaft and around pulleys, enabling smooth articulation movements. The flexibility of the belt allows for more intuitive control and reduces the mechanical complexity compared to rigid mechanical linkages.
2Length of moving object
If the shaft is made elongated to reach deep into the abdominal cavity, then access to hard-to-reach spaces is improved, but the maneuverability and control precision decreases
Solution Approach 1:
The patent segments the shaft into multiple sections that can articulate relative to each other. The belt-pulley system allows different segments of the shaft to be independently positioned and controlled. This segmentation enables the long shaft to navigate complex anatomical paths while maintaining precise control over the position and orientation of the distal end, including the end effector.
Solution Approach 2:
The patent introduces rotational degrees of freedom through the pulley system, adding dimensional control capability to the elongated shaft. Instead of merely linear insertion, the belt-driven pulleys enable articulation in multiple directions, allowing the shaft to reach hard-to-access spaces while maintaining precise three-dimensional control over the end effector's position and orientation.
3Ease of operation
If robotic systems include multiple joints and articulation points for natural hand-like movement, then the ease of operation improves, but the device complexity increases
Solution Approach 1:
The patent designs the belt system to serve multiple functions: it transmits power to articulate the shaft, positions the end effector, and enables precise control of movement. The same belt infrastructure supports multiple articulation points along the shaft length, reducing the need for separate mechanical systems for each function and thereby simplifying the overall device complexity while maintaining intuitive control.
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 improves the ease of insertion and maneuverability of surgical instruments, reducing friction and enhancing the precision of robotic surgical procedures by allowing for more intuitive and controlled movements, thus improving the overall effectiveness of minimally invasive surgeries.
Implementation Method 1
gear teeth are defined on an inner surface of the drive belt and engageable with corresponding gear teeth defined on an outer surface of the shaft
Implementation Method 2
operating the actuation system rotates the drive gear to drive the drive belt and thereby cause z-axis translation of the shaft through the handle
Implementation Method 3
a seal system disposed about the shaft and including a roller seal defining gear teeth and arranged to engage corresponding gear teeth provided along the shaft
Data Source
AI summary
A robotic surgical tool includes a handle, an elongate shaft extended through the handle, and an actuation system housed within the handle and including a drive belt extending along a portion of the shaft and having a distal end anchored to the shaft distal to the handle and a proximal end anchored to the shaft proximal to the handle, and a drive gear mounted to the handle to receive the drive belt. Operating the actuation system rotates the drive gear to drive the drive belt and thereby cause z-axis translation of the shaft through the handle.