Bladed Surgical Instrument End Effector Articulation
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Solution Overview
Problem
The existing configuration of bladed surgical instruments used in robotic surgery often results in separation between end effector elements, which inhibits their ability to effectively lacerate thin materials, reducing cutting performance due to increased separation and reduced cutting force.
Innovation Solution
The design incorporates opposing end effector elements with articulation joints and biasing mechanisms that allow for independent rotation and alignment, reducing separation and enhancing contact between cutting surfaces, with the first joint closer to the second portion of the second end effector element and the second joint closer to the second portion of the first end effector element, utilizing driving elements and pulley arrangements to ensure proper alignment and contact.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the end effector elements are configured with traditional articulation, then the instrument can perform cutting functions, but separation occurs between the elements reducing cutting performance
Solution Approach 1:
The patent applies asymmetry by positioning the first joint closer to the second portion of the second end effector element and the second joint closer to the second portion of the first end effector element. This asymmetric arrangement of joints and tines creates a mechanical configuration that naturally maintains contact between opposing end effector elements during cutting motion, eliminating separation and improving cutting performance
2Productivity
If the end effector elements are made to rotate independently, then cutting efficiency can be improved, but alignment precision becomes difficult to maintain
Solution Approach 1:
The patent introduces tines as intermediary elements that mediate between the independently rotating end effector elements and the supporting body. The tines provide a mechanical reference and constraint system that maintains precise alignment between cutting surfaces while allowing independent rotation of each end effector element, thus resolving the contradiction between cutting efficiency and alignment precision
Solution Approach 2:
The patent segments the end effector assembly into distinct components: first and second end effector elements, first and second joints, and opposing tines within the supporting body. This segmentation allows each component to perform its specific function - independent rotation for efficiency while the joint-tine alignment system maintains precision through modular design
Data Source
AI summary
A robotic surgical instrument comprising: an end effector with opposing first and second end effector elements, each end effector element comprising a first portion for enabling rotation of that end effector element about a respective joint and a second portion with a surface configured to interface with a corresponding surface of the opposing end effector element; and an articulation comprising: a first joint permitting rotation of the first end effector element about a first axis; a second joint permitting rotation of the second end effector element about a second axis; and a supporting body comprising opposing first and second tines within which the first portions of the first and second end effector elements are permitted to rotate; wherein the first portion of the first end effector element is proximal to the first tine, and the second portion of the first end effector element is proximal to the second tine.