Segmented Surgical Instrument for Binding Removal
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Solution Overview
Problem
In minimally invasive surgical procedures, particularly with robotic systems, it is challenging to decouple a surgical instrument from the robotic manipulator when the end effector becomes clamped on tissue and cannot be unclamped, especially when the instrument is fully inserted, leading to difficulties in repositioning the robotic system to address the binding issue.
Innovation Solution
The design includes a surgical instrument with an elongate shaft and a chassis featuring an interface fitting and a securing feature that allows sliding engagement along an axis, enabling the instrument to be demounted from the robotic manipulator by releasing the securing feature when binding occurs, allowing relative sliding between the interface fitting and the frame, facilitating decoupling and repositioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the surgical instrument is fully inserted and the end effector becomes clamped on tissue, then the surgical procedure can be performed, but the instrument cannot be removed or repositioned
Solution Approach 1:
The surgical instrument is divided into separable components: the end effector assembly can be detached from the instrument shaft. This allows the clamped end effector to remain engaged with tissue while the shaft is removed, enabling repositioning without compromising the clamping function.
Solution Approach 2:
The mounting feature is extracted as a separate detachable component that connects the shaft to the end effector. This extracted mounting interface allows the shaft to be removed from the end effector assembly, enabling instrument removal while leaving the functional end effector in place.
2Reliability
If the end effector is designed to clamp securely on tissue, then surgical effectiveness is improved, but the ability to unclamp and remove the instrument is lost
Solution Approach 1:
The instrument system is segmented into a permanent end effector assembly and a removable shaft. The end effector maintains secure clamping on tissue while the shaft can be independently removed and repositioned, providing adaptability without compromising clamping security.
Solution Approach 2:
The mounting feature acts as an intermediary component between the shaft and end effector. It provides secure connection during surgery but allows for controlled detachment, mediating between the need for secure clamping and the need for repositioning capability.
3Length of moving object
If the instrument shaft is fully inserted into the patient, then minimal incision benefits are achieved, but removal becomes difficult when binding occurs
Solution Approach 1:
The instrument is segmented into a long shaft that can be fully inserted for minimal incision benefits, and a separate end effector assembly that can be detached. When binding occurs, only the shaft needs to be extracted while the end effector remains engaged, making extraction feasible despite full insertion.
Solution Approach 2:
The shaft is extracted as a separate removable component from the end effector assembly. This extraction capability allows the long shaft to be removed from the patient even when the end effector remains clamped on tissue, solving the extraction difficulty caused by full insertion.
Data Source
AI summary
Minimally invasive robotic surgical instruments and related methods are disclosed. A surgical instrument includes an interface fitting that couples a proximal chassis of the instrument with a holding fixture of a robotic manipulator. A securing feature releasably prevents relative axial sliding between the interface fitting and the chassis. In response to binding of the surgical instrument within a minimally invasive surgical site so as to inhibit removal of the surgical instrument from the surgical site and inhibit disengagement of the interface fitting from the holding fixture, the securing feature can be released to allow relative axial sliding between the interface fitting and the chassis, thereby allowing the holding fixture and the interface fitting to be separated from the rest of the surgical instrument and repositioning of the robotic manipulator out of the way.