Surgical Instrument Articulation Joints with Multiple Moving Linkages
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Solution Overview
Problem
Current surgical instruments face challenges in providing a wide range of articulation while accommodating various drive systems, particularly due to size constraints imposed by trocar cannulas, which limits the range of motion and complexity of articulation joints, and requires compact yet robust designs to transmit drive motions effectively.
Innovation Solution
The development of a surgical stapling system with a shaft assembly and end effector that incorporates a flexible firing drive and closure drive, featuring articulation joints with universally movable joints formed using additive manufacturing, allowing for independent rotation of drive members through articulation joints and accommodating significant articulated orientations while maintaining compactness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional articulation joint designs are used, then the structure is simpler to manufacture, but the range of articulation is limited and drive motion transmission is less effective
Solution Approach 1:
The articulation joint is divided into multiple independent link members (first link member, second link member, third link member) with distinct proximal and distal ends. Each link member can pivot independently about transverse joint axes, enabling complex articulation movements while maintaining manageable individual component complexity.
Solution Approach 2:
The link members are arranged in a nested configuration where the first link member connects to the second, which connects to the third. This nesting allows multiple degrees of freedom within a compact structure that can be inserted through trocar cannulas while providing extensive articulation range.
2Volume of moving object
If compact articulation joints are used, then size constraints are met for trocar insertion, but drive motion transmission across joints becomes less effective
Solution Approach 1:
The link members are designed with elongated link bodies that function as flexible yet rigid structural elements. These link bodies maintain structural integrity for reliable drive motion transmission while being slender enough to fit within compact joint assemblies that meet trocar size constraints.
Solution Approach 2:
The joint assemblies are designed to be movable rather than fixed, with each link member capable of pivotal motion about transverse axes. This dynamic design allows the joint to adapt its configuration during articulation while maintaining effective drive motion transmission through the moving linkages.
3Adaptability or versatility
If multiple moving linkage features are added to increase articulation range, then the articulation capability improves, but the joint assembly becomes more complex
Solution Approach 1:
Each link member serves multiple functions: it acts as a structural element providing mechanical strength, as a pivot axis for articulation motion, and as a transmission element for drive forces. This multi-functionality reduces the need for separate specialized components, managing complexity while enabling sophisticated articulation.
Solution Approach 2:
The joint assemblies combine multiple functional elements into integrated units. The proximal and distal joints of each link member are merged with the link body to form cohesive articulation units, reducing the number of separate parts and simplifying the overall assembly process.
Data Source
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AI summary
Articulation joint arrangements for facilitating multi-axis articulation of a surgical end effector relative to a shaft assembly of a surgical instrument.