Selectable Jaw Closure Actuation in Robotic Surgical Staplers
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current surgical instruments, such as surgical staplers and ultrasonic surgical instruments, lack advanced articulation mechanisms that enable precise and versatile motion control during robotic-assisted surgeries.
Innovation Solution
The development of a robotic surgical system with advanced articulation mechanisms, including a surgical stapler with a wrist joint and activating mechanisms like barrel cams and wedges, allows for precise control and multiple degrees of freedom, enabling complex surgical procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robotic surgical system with advanced articulation mechanisms is implemented, then precision and versatility in surgical procedures are enhanced, but device complexity increases
Solution Approach 1:
The robotic surgical system is divided into modular components including the robotic arm, wrist joint, end effector, and articulation mechanisms. Each component can be independently controlled and optimized, allowing precise surgical movements while managing overall system complexity through functional segmentation
Solution Approach 2:
The system incorporates dynamic articulation mechanisms including barrel cams and wedges that enable real-time adjustment of jaw closure and wrist articulation. These dynamic elements allow the system to adapt its degree of freedom and motion characteristics during surgical procedures, enhancing precision without requiring permanently complex structures
2Adaptability or versatility
If multiple degrees of freedom and articulation mechanisms are added to enable complex surgical procedures, then versatility is improved, but device complexity increases
Solution Approach 1:
The robotic surgical system is designed with multi-functional capabilities where the same articulation mechanisms (barrel cam, wedge, jaw closure system) serve multiple purposes: enabling wrist articulation, controlling end effector orientation, and facilitating various surgical tasks including cutting, stapling, and tissue manipulation across different surgical procedures
Solution Approach 2:
The system employs dynamic articulation mechanisms that can adjust their degree of freedom during operation. The barrel cam and wedge structures enable variable geometric relationships between components, allowing the system to transition between different operational modes and adapt to diverse surgical requirements without permanent structural complexity
Data Source
AI summary
A surgical instrument includes an end effector, a shaft assembly, a drive, and an activating mechanism. The end effector includes first and second jaws. At least one of the first and second jaws is pivotable relative to the other of the first and second jaws between open and closed positions. The shaft assembly extends proximally from the end effector. The drive is operatively connected to a portion of at least one of the end effector or the shaft assembly. The activating mechanism includes an actuation body operatively connected to the drive. The portion is configured to perform a first actuation profile in response to the actuation body moving along a first predetermined path or perform a second actuation profile in response to the actuation body moving along a second predetermined path. Selection of the first predetermined path is configured to prevent the actuation body from accessing the second predetermined path.