Surgical Arm Actuation Mechanism for Calibration Maintenance

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Solution Overview

Problem

Current surgical arm systems face challenges in maintaining calibration during attachment to a motor unit, which can lead to inefficient operation and potential damage to components, especially when multiple instruments are inserted through a single port in minimally invasive surgeries.

Innovation Solution

A mechanism involving two actuators, one rotating the shaft and the other bending it using elongated elements, with gear-driven systems to control movement and maintain calibration, allowing for precise articulation of surgical arms with two degrees of freedom, including rotation and bending, while ensuring proper alignment and reducing unnecessary movements.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Loss of time

If the surgical arm is attached to the motor unit without calibration maintenance, then the attachment process is simple and quick, but the calibration is lost and unnecessary movements occur

Engineering Contradiction:

Improvecalibration maintenance timeVSAvoidcalibration accuracy

Core Design Contradiction:

Loss of timeVSReliability

Solution Approach 1:

The locking mechanism is engaged before the attachment process begins, preventing gear movement during the entire attachment sequence. This preliminary action ensures that when the instrument is attached, the gears remain in their calibrated positions, eliminating the need for post-attachment calibration realignment

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The locking mechanism acts as an intermediary between the operator and the gear system during attachment. It temporarily restrains the driving wheels, allowing the instrument to be mounted without disturbing the calibrated gear positions, then releases them to allow normal operation

Inventive Principle:

Principle #24Intermediary (Mediator)

2Manufacturing precision

If the driving wheels are restrained during attachment, then calibration is maintained, but the attachment process becomes more complex

Engineering Contradiction:

Improvecalibration precisionVSAvoidattachment process complexity

Core Design Contradiction:

Manufacturing precisionVSDevice complexity

Solution Approach 1:

The locking mechanism is designed to be automatically engaged and disengaged through the natural attachment and detachment motions themselves. The operator performs the locking action by simply inserting or removing the instrument, without requiring separate manual intervention to operate the locking mechanism

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The locking function is merged with the attachment/detachment process. The same physical actions used to mount or dismount the instrument also automatically engage or disengage the locking mechanism, combining two functions into one seamless operation

Inventive Principle:

Principle #5Merging (Combining)

3Productivity

If the driving wheels are not restrained, then the attachment process is faster, but unnecessary movements occur and components may be damaged

Engineering Contradiction:

Improveattachment speedVSAvoidcomponent damage risk

Core Design Contradiction:

ProductivityVSObject-affected harmful factors

Solution Approach 1:

The locking mechanism applies a counteracting restraining force to the driving wheels before any attachment movements can cause harmful displacement. This preliminary anti-action prevents the wheels from moving during the attachment process, eliminating both unnecessary movements and the risk of component damage

Inventive Principle:

Principle #9Preliminary anti-action

Solution Approach 2:

The potential harmful effect of wheel movement during attachment is converted into a benefit by using the locking mechanism to intentionally restrain the wheels. What would otherwise be a source of calibration error and component stress becomes a controlled condition that preserves calibration and protects components

Inventive Principle:

Principle #22Blessing in disguise (Convert harm into benefit)

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 solution enables precise and efficient calibration and articulation of surgical arms, reducing the risk of damage and improving the transfer of driving force, thus enhancing the operational efficiency and accuracy of surgical procedures, especially in single-port laparoscopic surgeries.

Implementation Method 1

A mechanism involving two actuators, one rotating the shaft and the other bending it using elongated elements, with gear-driven systems to control movement and maintain calibration

Methodology Applied

Scientific EffectGear mechanism: Gear

Implementation Method 2

a second actuator configured to bend the shaft using one or more elongated elements attached to the shaft

Methodology Applied

Scientific EffectMechanical bending: Deformation

Data Source

PatentEP3738541B1Actuation of a device comprising mechanical arms

Publication Date: 2024.12.04 MOMENTIS SURGICAL LTD

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Figure 1B
Figure 1C~1D

AI summary

Some embodiments of the invention relate to a mechanism for actuating a shaft having two degrees of freedom, comprising: a first actuator configured to rotate the shaft around the shaft axis, and a second actuator configured to bend the shaft using one or more elongated elements attached to the shaft, wherein actuation of the first actuator indirectly manipulates the elongated elements controlled by the second actuator, thereby affecting operation of the second actuator. Some embodiments relate to motorized actuation of a system comprising at least one surgical arm.