Surgical Instrument Drive Module for Simultaneous End Effector Control
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Solution Overview
Problem
Current surgical systems face limitations in providing simultaneous high-force degree of freedom, roll, and tool actuation while sharing a single motor input, which restricts the ability to operate multiple functions simultaneously due to conflicting mechanical and motor control requirements.
Innovation Solution
The surgical system incorporates a handle with a drive module featuring a motor, speed reduction gear assembly, and a clutch system that allows for selective operation of high-force, roll, and tool actuation functions by using a combination of electromagnetic actuators and clutch mechanisms to manage the transmission of rotational motion to the end effector, enabling independent control of clamping, rotation, and articulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single motor is shared among multiple drive systems (high-force DOF, roll DOF, and tool actuation DOF), then the device complexity is reduced, but the ability to operate multiple functions simultaneously is limited
Solution Approach 1:
The patent divides the single motor system into multiple independent drive systems, each with its own motor. The handle assembly includes a first drive system with a first motor for high-force DOF actuation, a second drive system with a second motor for roll DOF actuation, and a third drive system with a third motor for tool actuation DOF. This segmentation allows each drive system to operate independently and simultaneously without conflicting mechanical and motor control requirements.
2Adaptability or versatility
If multiple drive systems with separate motors are implemented, then simultaneous operation of multiple functions is enabled, but the device complexity increases
Solution Approach 1:
The patent employs a universal communication bus that all three drive systems connect to, allowing centralized control and coordination. Each drive system maintains its specialized motor and transmission components for specific functions (high-force, roll, tool actuation), while the common communication infrastructure enables integrated operation. This multi-functionality approach allows the system to handle diverse actuation requirements simultaneously while managing complexity through standardized communication protocols.
3Ease of operation
If a single input controls multiple DOFs (high-force, roll, and tool actuation), then the control mechanism is simplified, but the precision and independence of each function are compromised
Solution Approach 1:
The patent segments the control architecture into three independent control loops, each dedicated to a specific DOF. The first controller manages the first motor for high-force DOF, the second controller manages the second motor for roll DOF, and the third controller manages the third motor for tool actuation DOF. Each controller can precisely regulate its associated motor without interference from the others, maintaining actuation precision while keeping the overall control mechanism organized and manageable through modular design.
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 configuration enables the surgical system to efficiently manage multiple functions such as clamping, rotating, and articulating the end effector, enhancing the versatility and precision of surgical procedures by allowing simultaneous operation of high-force and roll functions without mechanical conflicts.
Implementation Method 1
an electric motor configured to generate a mechanical output to motivate the drivetrain to transmit the at least one motion to the end effector
Implementation Method 2
a clutch system that allows for selective operation of high-force, roll, and tool actuation functions by using a combination of electromagnetic actuators and clutch mechanisms to manage the transmission of rotational motion
Data Source
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AI summary
A surgical instrument is disclosed comprising a plurality of drive systems and one or more shifting systems. The functionality of the surgical instrument is controlled by the shifting systems.