Rotatable Jaw Positioning in Surgical Robot Attachments
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Solution Overview
Problem
Current surgical instruments face challenges in accurately determining the position of a rotatable jaw of a surgical instrument attachment assembly, which affects the precision and effectiveness of tissue stapling and cutting operations.
Innovation Solution
The implementation of a method that utilizes a robotic surgical system with advanced articulation and control mechanisms, including articulation drivers, cam gears, and a firing drive system, to precisely control the position of the rotatable jaw, enabling accurate tissue engagement and staple deployment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robotic surgical system with advanced articulation and control mechanisms is implemented, then jaw positioning precision is improved, but device complexity increases
Solution Approach 1:
The system segments the control function into multiple independent components: articulation drivers for jaw rotation, cam gears for position transmission, and firing drive system for staple deployment. Each component handles a specific aspect of jaw positioning, which improves measurement precision while allowing independent optimization of each segment to manage overall complexity.
Solution Approach 2:
Cam gears are introduced as intermediary mechanical elements between the articulation drivers and the jaw assembly. These cam gears convert rotational motion into precise linear positioning of the jaw, enabling accurate position determination without requiring direct complex sensing and actuation mechanisms at the jaw itself.
2Manufacturing precision
If cam gears and articulation drivers are used to control jaw position, then jaw positioning accuracy is improved, but manufacturing complexity increases
Solution Approach 1:
The cam gears are designed to serve multiple functions: they transmit motion from the articulation drivers, determine jaw position through their geometric profile, and provide mechanical advantage for precise positioning. This multi-functionality reduces the need for separate components, thereby improving manufacturing precision while managing ease of manufacture.
Solution Approach 2:
The system utilizes parameter changes in the cam gear geometry to achieve precise jaw positioning. By varying the cam profile parameters (radius, angle, depth), the system can control jaw position accuracy without changing the fundamental manufacturing process, making it easier to manufacture while maintaining high precision.
3Measurement precision
If a firing drive system with multiple components is implemented, then staple placement accuracy is improved, but device complexity increases
Solution Approach 1:
The firing drive system merges multiple control functions into a coordinated mechanism that operates in conjunction with the articulation drivers and cam gears. The firing drive is integrated with the existing articulation mechanism, allowing staple placement accuracy to be determined by the same precise jaw positioning system, thereby improving accuracy without proportionally increasing overall device complexity.
Data Source
AI summary
A method for determining the position of a rotatable jaw of an attachment relative to a non-rotatable jaw is disclosed. The method comprises assembling the attachment to a surgical robot, rotating a first rotatable driver of the robot to align the first driver with a first rotatable drive of the attachment, and rotating a second rotatable driver of the robot to align the second driver with a second rotatable drive of the attachment. The method further comprises evaluating the amount of rotation required to align the first driver with the first drive and the amount of rotation required to align the second driver with the second drive, calculating a difference between the amount of rotation of the first driver and the amount of the rotation of the second driver, and determining the position of the rotatable jaw relative to the non-rotatable jaw based on the calculated difference.