Roll Joint End Effector Rotation with Coiled Conductor
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Solution Overview
Problem
Laparoscopic and endoscopic surgical instruments face challenges in rotating end effectors to effectively position and orient jaw members for tissue engagement, particularly when using electrosurgical instruments, due to entanglement of conductors limiting motion.
Innovation Solution
A surgical instrument with a roll joint that includes a first and second tubular structure coupled by a bearing set, allowing the end effector to rotate about its axis, with a coiled electrosurgical conductor that unwinds during rotation, and a structural stop to limit rotation, enabling independent rotation of the end effector while maintaining electrical contact through a conductive slip ring.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Use of energy by moving object
If a conductor is used to provide electrosurgical current through the elongated shaft, then electrosurgical energy can be delivered to the end effector, but the conductor becomes entangled or limits the range of motion achievable by the end effector
Solution Approach 1:
The conductor is configured to be movable relative to the end effector through the roll joint, allowing it to dynamically adjust its position and orientation as the end effector rotates. This dynamic configuration enables the conductor to maintain electrical connectivity while accommodating the rotational motion, thereby resolving the contradiction between maintaining electrosurgical energy delivery and achieving full range of motion.
Solution Approach 2:
The roll joint acts as an intermediary mechanism between the conductor and the end effector. It provides a controlled interface that allows the conductor to move independently from the end effector's rotational motion, mediating between the requirement for continuous electrical contact and the need for unrestricted rotation. This intermediary structure enables the conductor to be drawn through the roll joint in a controlled manner while the end effector rotates freely.
2Adaptability or versatility
If the end effector is rotated about its longitudinal axis to orient jaw members, then proper orientation for tissue engagement is achieved, but the conductor becomes entangled
Solution Approach 1:
The conductor is designed with dynamic movement capability through the roll joint, allowing it to change its spatial configuration as the end effector rotates. This dynamic adaptation enables the conductor to avoid entanglement while the end effector achieves full rotational orientation capability for tissue engagement.
Solution Approach 2:
The system is divided into functionally independent segments: the end effector can rotate freely for orientation, while the conductor is separated and managed through the roll joint mechanism. This segmentation allows the end effector to perform rotational movements without directly constraining the conductor, preventing entanglement while maintaining orientation capability.
3Ease of operation
If a roll joint is provided to facilitate passage of electrosurgical current, then range of motion is improved, but the structure becomes more complex
Solution Approach 1:
The roll joint utilizes a flexible cable wrap configuration where the conductor is coiled and wrapped within a tubular structure. This flexible arrangement allows the conductor to move and rotate without requiring complex mechanical joints or guides, achieving range of motion improvement while keeping the structural complexity relatively low.
Solution Approach 2:
The roll joint mechanism is designed to be self-regulating, where the cable wrap configuration automatically manages the conductor's movement and positioning. The structure self-adjusts to accommodate rotation and maintains electrical connectivity without requiring external control systems or complex actuation mechanisms, thereby reducing overall device complexity.
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
Facilitates precise positioning and orientation of end effectors, enhances the range of motion for electrosurgical instruments, and ensures continuous electrical contact during rotation, improving the effectiveness of surgical procedures.
Implementation Method 1
A surgical instrument with a roll joint that includes a first and second tubular structure coupled by a bearing set, allowing the end effector to rotate about its axis
Implementation Method 2
a coiled electrosurgical conductor that unwinds during rotation, and a structural stop to limit rotation, enabling independent rotation of the end effector while maintaining electrical contact through a conductive slip ring
Data Source
AI summary
A surgical instrument includes a handle, and an elongated shaft extending from the handle. An end effector extending from the elongated shaft is in communication with a source of electrosurgical energy and defines an end effector axis. A roll joint couples the end effector to the elongated shaft and includes a first tubular structure extending distally from the elongated shaft and a second tubular structure rotatably coupled to the first tubular structure. The second tubular structure supports the end effector such that the end effector is rotatable about the end effector axis.