Surgical End Effector with Rotating Ultrasonic Blade
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Solution Overview
Problem
Current surgical devices with ultrasonic end effector assemblies have limited articulation, restricting the end effector's movement to a single plane, which hinders the achievement of full six degrees of freedom, leading to potential user errors and inadequate tissue cutting or sealing during surgery.
Innovation Solution
The surgical device incorporates a rotation assembly with a multi-segment spiral slot and pin mechanism, allowing the clamping element to rotate independently of the ultrasonic blade, combined with an articulation assembly that deflects the end effector out of its articulation plane, enabling six degrees of motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the end effector assembly is restricted to single-plane articulation, then the device structure remains simple, but the range of motion is limited and cannot achieve full six degrees of freedom
Solution Approach 1:
The end effector assembly is segmented into independently movable components: the clamp arm that can articulate in the first direction, and the blade assembly that can rotate about the longitudinal axis. This segmentation allows each component to move independently, achieving six degrees of freedom without requiring the entire assembly to be complex and unwieldy.
Solution Approach 2:
The device transitions from a static, single-plane articulation design to a dynamic multi-degree-of-freedom system. The clamp arm provides articulation movement while the blade assembly provides rotational movement, creating a dynamic system that can adapt to various surgical angles and positions.
2Reliability
If the end effector assembly is restricted to single-plane articulation, then the device is easier to control, but user errors increase due to inadequate tissue cutting or sealing
Solution Approach 1:
By separating the articulation function (clamp arm) from the rotation function (blade assembly), the device allows independent control of each degree of freedom. This segmentation enables precise positioning of the blade relative to the tissue while maintaining manageable control through separate actuation mechanisms.
Solution Approach 2:
The waveguide serves as an intermediary element that transmits ultrasonic vibrations from the transducer to the blade while allowing the blade to rotate independently. This intermediary structure enables rotational movement of the blade assembly without interfering with the ultrasonic energy transmission, thereby improving surgical precision.
3Adaptability or versatility
If the blade is fixed relative to the clamp arm, then the structure is simpler, but the end effector cannot achieve rotational movement about the longitudinal axis
Solution Approach 1:
The end effector is segmented into the clamp arm and the blade assembly as separate rotatable components. The blade assembly can rotate about the longitudinal axis independently from the clamp arm's articulation, providing rotational capability without requiring a completely restructured end effector design.
Solution Approach 2:
The blade assembly is designed to rotate about the longitudinal axis using its own independent mechanism, rather than requiring the entire end effector to rotate. This self-service rotation capability allows the blade to orient itself independently, adding versatility without proportionally increasing overall 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
This configuration enhances the surgical device's ability to rotate and articulate the end effector assembly, facilitating precise tissue manipulation and reducing the risk of user errors by allowing full range of motion, including rotational movement of the clamping element relative to the ultrasonic blade.
Implementation Method 1
piezoelectric elements that convert electrical power into ultrasonic vibrations, which are communicated along an acoustic waveguide to the blade element
Implementation Method 2
an inner sleeve that is coupled to the clamping element. The inner sleeve has a multi-segment spiral slot and a pin housed therein such that the pin is configured to selectively slide within the multi-segment spiral slot upon a force applied to an input operatively coupled to the pin to thereby cause rotation of the clamping element relative to the ultrasonic blade
Data Source
Figure 1
Figure 2A
Figure 2B
AI summary
Surgical devices and systems having rotating end effector assemblies for treating tissue are provided. Methods for using the same are also provided.