Steerable Surgical Tip Structure for Low-Backlash Bending
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Solution Overview
Problem
Existing surgical apparatuses with bendable elements at the distal end face challenges such as backlash and difficulty in fine manipulation due to complex wire movements, and are hard to miniaturize due to numerous interconnected components.
Innovation Solution
The surgical apparatus features improved bending segments with partially open lumens and lateral supporting members to minimize slack, allowing for precise control and reduced backlash, and incorporates a flexible hinge structure for enhanced maneuverability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If wire-based bending mechanism is used, then the apparatus can bend at the distal end, but backlash occurs and fine manipulation becomes difficult
Solution Approach 1:
The bending mechanism is divided into multiple bending segments (first bending segment, second bending segment) that can independently control bending in different directions. Each segment has its own bending wire, allowing independent control and eliminating the cumulative backlash effect that occurs in traditional single-wire systems.
Solution Approach 2:
The patent transitions from one-dimensional bending control to two-dimensional bending control by adding a second bending segment that operates in a different plane. This allows the distal end to bend in multiple directions simultaneously, providing superior maneuverability while maintaining precision through independent wire control for each dimension.
2Adaptability or versatility
If multiple interconnected components are embedded for bending control, then the apparatus can achieve complex bending movements, but the apparatus size increases and miniaturization becomes difficult
Solution Approach 1:
The bending segments and their control wires are nested within the insertion portion in a compact arrangement. The first and second bending segments are positioned concentrically or adjacently within the same cylindrical space, allowing multiple bending control mechanisms to coexist in a miniaturized configuration without excessive increase in apparatus diameter.
Solution Approach 2:
The insertion portion is designed as a flexible structure that can accommodate the bending segments and wires without requiring rigid protective housings. This flexible design reduces the overall volume while maintaining the structural integrity needed to support the bending mechanism.
3Adaptability or versatility
If traditional wire movement structure is used, then the apparatus can bend, but slack is created and control precision deteriorates
Solution Approach 1:
The bending wires are pre-tensioned and anchored at both the proximal and distal ends of the insertion portion before operation. This preliminary anchoring eliminates slack in the wire system, ensuring that any movement of the control wires at the proximal end is directly and precisely transmitted to the distal end bending segments without loss of control precision.
Solution Approach 2:
The patent optimizes the physical parameters of the bending wires including their material composition, diameter, and tension characteristics to minimize elasticity and maximize dimensional stability. By carefully selecting wire parameters, the system achieves precise control transmission while maintaining the flexibility needed for bending operations.
Data Source
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AI summary
The disclosure provides a surgical apparatus comprising: a steerable member that is bendable and comprises a plurality of bending segments with channels therein; and a plurality of bending actuation wires that are arranged to pass through the steerable member and cause the steerable member to bend, the steerable member comprising at least one outwardly opening lumen through which the bending actuation wires pass.