Segmented Surgical End Effector for Curved Lumen Navigation

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Solution Overview

Problem

In minimally invasive surgical procedures, traditional surgical instruments face limitations due to the rigidity of their design, which restricts their ability to pass through the curved lumens of flexible endoscopes, limiting the length and functionality of end effectors like graspers, and requiring frequent instrument exchanges, which is time-consuming and hazardous.

Innovation Solution

The design of a surgical tool with an end effector comprising multiple segments that can articulate and lock into a larger configuration for functionality, allowing it to navigate through curved lumens while maintaining rigidity for surgical tasks, and featuring various locking mechanisms and actuation systems to facilitate easy passage and reconfiguration.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Length of moving object

If traditional rigid surgical instruments are used, then structural strength is maintained, but the ability to pass through curved lumens is compromised

Engineering Contradiction:

Improvejaw lengthVSAvoidability to pass through curved lumens

Core Design Contradiction:

Length of moving objectVSAdaptability or versatility

Solution Approach 1:

The end effector is divided into multiple rigid segments connected by articulation joints. Each segment maintains structural strength while the joints enable the end effector to articulate and follow curved paths through flexible lumens, resolving the contradiction between rigidity and adaptability.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The end effector transitions from a static rigid structure to a dynamic articulated structure that can change its configuration. The articulation joints allow the end effector to adapt its shape to match curved lumen paths while maintaining rigidity in each individual segment for structural strength.

Inventive Principle:

Principle #15Dynamics

2Adaptability or versatility

If the end effector is made flexible to navigate curved lumens, then adaptability improves, but structural strength for surgical tasks deteriorates

Engineering Contradiction:

Improveability to navigate curved lumensVSAvoidstructural rigidity for surgical tasks

Core Design Contradiction:

Adaptability or versatilityVSStrength

Solution Approach 1:

The end effector consists of multiple rigid segments rather than a single flexible structure. Each segment maintains structural strength for surgical tasks while the collection of segments can articulate to navigate curved lumens, resolving the contradiction between strength and adaptability.

Inventive Principle:

Principle #1Segmentation

3Length of moving object

If longer end effectors are used to improve functionality, then surgical capability increases, but the ability to pass through curved lumens decreases

Engineering Contradiction:

Improveend effector lengthVSAvoidease of passage through curved lumens

Core Design Contradiction:

Length of moving objectVSEase of operation

Solution Approach 1:

The long end effector is segmented into multiple sections connected by articulation joints. This allows the end effector to maintain its full length for surgical functionality while being able to articulate and bend to pass through curved lumens, resolving the contradiction between length and ease of passage.

Inventive Principle:

Principle #1Segmentation

4Adaptability or versatility

If multiple instruments are used to provide various surgical functions, then versatility improves, but instrument exchange time increases

Engineering Contradiction:

Improvesurgical function varietyVSAvoidinstrument exchange time

Core Design Contradiction:

Adaptability or versatilityVSLoss of time

Solution Approach 1:

The end effector incorporates multiple surgical functions within a single instrument, including grasping, cutting, and coagulation capabilities. This eliminates the need for frequent instrument exchanges while maintaining surgical versatility, resolving the contradiction between function variety and time efficiency.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

Multiple surgical functions that would traditionally require separate instruments are merged into a single end effector assembly. The articulating segments can be configured to perform different surgical tasks, consolidating multiple instrument functions into one device and eliminating exchange time.

Inventive Principle:

Principle #5Merging (Combining)

Data Source

PatentUS9381004B2Multifunctional surgical instrument with flexible end effector tools

Publication Date: 2016.07.05 ENCISION INC

AI summary

A surgical tool having proximal and distal ends and adapted to transverse a curved passageway comprises an end effector disposed on the distal end of the surgical tool, the end effector having a first body section and a second body section and a releasable connector joining the end effector first body section with the end effector second body section. The connector is operable to reversibly engage the first and second end effector body sections in a first fixed position and in a second movable position. The surgical tool further comprises an actuation device for moving the first and second end effector body sections from the first fixed position to the second movable position. The end effector is adapted to maneuver through a larger radius of curvature in the second movable position than in the first fixed position.