Robotic Surgical Tool Carriage for Precise Knife Firing
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Solution Overview
Problem
Current robotic surgical tools face limitations in efficiently actuating end effectors, particularly in minimally invasive procedures, due to complex mechanical mechanisms and limited dexterity, which hinders precise and intuitive control during surgeries.
Innovation Solution
A robotic surgical tool design featuring a drive housing with a spline and carriage system, including a drive gear and input gear mechanism, allows for precise longitudinal movement of a firing rod and knife, enabling efficient actuation of end effectors like surgical staplers and scissors through a robotic arm system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If complex mechanical mechanisms are used to actuate end effectors, then the end effector can perform multiple functions, but the device complexity increases and ease of operation decreases
Solution Approach 1:
The patent combines multiple actuation functions into a single integrated carriage assembly that moves along the lead screw. The carriage integrates the firing mechanism, articulation control, and end effector actuation into one unified structure, reducing the number of separate mechanical components while maintaining multiple functions.
Solution Approach 2:
The carriage assembly serves multiple functions simultaneously: it acts as the moving platform for the end effector, houses the firing rod mechanism, provides articulation control through the spline, and enables both cutting and stapling operations. This multi-functional design reduces overall device complexity.
2Adaptability or versatility
If complex mechanical mechanisms are used to actuate end effectors, then the end effector can perform multiple functions, but the ease of operation deteriorates
Solution Approach 1:
The robotic arm serves as an intermediary that translates surgeon hand movements into precise carriage actuations. The force system with springs and dampers acts as a mediator between the robotic arm and the carriage, providing natural haptic feedback that makes operation intuitive despite the complex underlying mechanics.
Solution Approach 2:
The force system provides real-time haptic feedback to the surgeon through the robotic arm. Springs and dampers create natural resistance that mimics manual surgery feel, allowing the surgeon to intuitively control the complex end effector mechanisms without needing to understand their internal complexity.
3Manufacturing precision
If precise longitudinal movement of firing rod is achieved through gear mechanisms, then manufacturing precision is improved, but device complexity increases
Solution Approach 1:
The patent replaces complex multi-stage gear reduction mechanisms with a direct-drive approach using a single gear that engages the lead screw. This simplifies the mechanical transmission system while maintaining precise positioning through the inherent precision of the lead screw and gear engagement.
Solution Approach 2:
The positioning system is segmented into distinct functional elements: the gear provides rotational motion, the lead screw converts rotation to linear motion, and the carriage guides the firing rod. This segmentation allows each component to be optimized for its specific function while simplifying the overall design.
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 design enhances the precision and ease of use in robotic surgeries by allowing for intuitive control of end effectors, improving dexterity and reducing mechanical complexity, thereby facilitating more effective minimally invasive procedures.
Implementation Method 1
a lead screw extending between the first and second ends
Implementation Method 2
at least one spline extending between the first and second ends and including a drive gear that rotates with rotation of the at least one spline
Implementation Method 3
a firing rod defining external threads threadably engageable with internal threads of the input gear, the firing rod being operatively coupled to a knife at the end effector such that longitudinal movement of the firing rod correspondingly moves the knife in the same direction
Data Source
AI summary
A robotic surgical tool includes a drive housing having first and second ends, a spline extending between the ends and including a drive gear that rotates with spline rotation, and a carriage mounted to the spline. A shaft extends from the carriage, penetrates the first end, and has an end effector arranged at a distal end. An activating mechanism is housed in the carriage and includes an input gear operatively coupled to the drive gear such that rotation of the drive gear correspondingly rotates the input gear, and a firing rod defining external threads threadably engageable with internal threads of the input gear. The firing rod is coupled to a knife at the end effector such that movement of the firing rod correspondingly moves the knife in the same direction. The drive gear is rotated to rotate the input gear and thereby move the firing rod and the knife.