Surgical End Effector Leverage via Perpendicular Coupler
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Solution Overview
Problem
Existing surgical instruments face challenges in providing efficient and maneuverable end effectors for robotic and laparoscopic surgeries, particularly in maintaining a secure grip and cutting tissue effectively within limited access areas.
Innovation Solution
The design incorporates a first and second jaw mechanism mounted on revolute joints with a coupler and linkages that allow for reciprocating movement, providing increased leverage for closing the jaws and enabling efficient grasping and cutting, while maintaining electrical isolation and allowing for a shorter end effector length for improved access.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If a traditional jaw mechanism is used in surgical instruments, then the structure is simple, but the leverage for closing the jaw is insufficient and the end effector length cannot be reduced
Solution Approach 1:
The patent introduces a coupler that moves in a direction substantially perpendicular to the longitudinal axis of the surgical instrument, adding a transverse dimension to the actuation mechanism. This perpendicular movement dimension enables the linkage to generate increased closing force on the jaw while maintaining a compact longitudinal profile, resolving the contradiction between force generation and device simplicity
Solution Approach 2:
The mechanism employs dynamic movement of the coupler along a perpendicular trajectory that varies during the jaw closing cycle. The coupler's movement path and the linkage geometry change dynamically to optimize force transmission, providing increased leverage during jaw closure while allowing the end effector to maintain a shorter overall length
2Length of moving object
If the end effector length is reduced for improved access, then maneuverability in limited access areas is improved, but the mechanism for providing leverage becomes more complex
Solution Approach 1:
By utilizing movement in a direction perpendicular to the longitudinal axis through the coupler, the mechanism achieves effective leverage action without requiring a longer longitudinal structure. This dimensional shift allows the end effector to be shortened while maintaining functional performance through the transverse actuation path
Solution Approach 2:
The coupler and linkage components are arranged in a nested configuration where the coupler moves through space perpendicular to the instrument axis, allowing the mechanism to be compacted along the longitudinal direction. This nesting approach enables reduced end effector length while preserving the leverage-generating capability through spatial optimization
3Force
If a coupler with perpendicular movement is introduced to increase leverage, then the closing force is improved, but the device complexity increases
Solution Approach 1:
The coupler serves multiple functions simultaneously: it transmits actuation force, generates leverage through perpendicular movement, and enables jaw closure while maintaining a compact structure. This multi-functionality reduces the need for separate components, thereby limiting the increase in device complexity despite the improved closing force
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
The solution enhances the ability to securely grasp and cut tissue with increased leverage, maintaining the closed position effectively and improving maneuverability within the limited access of surgical procedures.
Implementation Method 1
The rearward movement of the actuation end of the coupler increases an angle between the linkage and the coupler causing a corresponding increase in a component of force transmitted through the linkage for closing the first jaw providing increased leverage
Implementation Method 2
a first jaw mounted on a first revolute joint, the first jaw having a manipulating portion extending forwardly from the first revolute joint and a lever arm projecting rearwardly from the first revolute joint
Data Source
AI summary
An end effector apparatus for a surgical instrument is disclosed. The apparatus includes a first jaw mounted on a first revolute joint, the first jaw having a manipulating portion extending forwardly from the first revolute joint and a lever arm projecting rearwardly from the first revolute joint. The apparatus also includes a second jaw having a manipulating portion generally opposing the manipulating portion of the first jaw, and a coupler having an actuation end disposed overlapping the lever arm of the first jaw, the first and second jaws being laterally spaced apart to provide clearance for the actuation end of the coupler. The apparatus further includes a linkage extending rearwardly between the actuation end of the coupler and the lever arm of the first jaw, the linkage being operable to cause opening and closing movements of the first jaw about the first revolute joint in response to reciprocating movement of the coupler.