Robotic Surgical End Effector with Independent Pivot Drive

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Solution Overview

Problem

Conventional medical instruments used in robotic systems have complex designs, are thermally unstable, and require frequent replacement due to limited reusability after sterilization, leading to high costs and ecological impact.

Innovation Solution

A medical instrument with independently pivoting end effector elements, robust drive mechanisms, and a stable shaft design, allowing for high freedom of movement, reliability, and reusability.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If conventional medical instruments are used in robotic systems, then reliable and precise control is achieved, but the design becomes extremely complex and expensive

Engineering Contradiction:

Improvecontrol reliabilityVSAvoiddesign complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The medical instrument is divided into modular components including a shaft, end effector, and drive elements that can function independently. This segmentation allows each component to be optimized separately while maintaining overall system reliability, reducing the complexity burden on any single component.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

Instead of using complex cable assemblies to transmit control, the patent employs a direct mechanical drive system where drive elements are integrated into the shaft structure itself. This inversion of the control transmission approach simplifies the overall design while maintaining precise control capability.

Inventive Principle:

Principle #13The other way round (Inversion)

2Reliability

If conventional medical instruments with cable assemblies are used, then initial deployment is possible, but reusability after sterilization is limited due to thermal instability

Engineering Contradiction:

ImprovereusabilityVSAvoidthermal stability

Core Design Contradiction:

ReliabilityVSStability of the object's composition

Solution Approach 1:

The patent employs drive elements and structural components designed to withstand sterilization temperatures and maintain their mechanical properties. By selecting materials and designs that are stable under thermal stress, the instrument can be repeatedly sterilized and reused without degradation.

Inventive Principle:

Principle #35Parameter changes

3Reliability

If frequent replacement of medical instruments is required, then reliability is maintained, but operating costs and ecological impact increase significantly

Engineering Contradiction:

Improveinstrument reliabilityVSAvoidoperational efficiency

Core Design Contradiction:

ReliabilityVSProductivity

Solution Approach 1:

The modular design allows for recovery and potential replacement of only specific components (such as the end effector or drive elements) rather than the entire instrument. This extends the usable life of the overall system while maintaining reliability through component-level updates.

Inventive Principle:

Principle #34Discarding and recovering

Data Source

PatentEP4678123A1Medical instrument

Publication Date: 2026.01.14 KARL STORZ SE & CO KG

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AI summary

The invention relates to a medical instrument (10) comprising: - two drive elements (12) movable at least along their longitudinal direction and - an end effector (14) with at least two cooperating end effector elements (16), wherein the end effector elements (16) are each coupled to one of the drive elements (12) in a motion-transmitting manner and are pivotable independently of each other about a pivot axis (S).