Surgical End Effector Positioning via Tiltable Articulation Segments
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Solution Overview
Problem
Existing surgical devices face challenges in precisely positioning occlusion clips on the left atrial appendage, particularly during minimally invasive procedures, due to the difficulty in aligning the clip applier with the target location.
Innovation Solution
The development of a surgical device with a repositionable end effector, featuring an articulation mechanism with tiltable segments and a rotation mechanism with a bearing assembly, allows for precise positioning and alignment of the occlusion clip.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If a traditional clip applier is used for minimally invasive procedures, then the procedure can be performed through small incisions, but the precision of positioning the occlusion clip on the left atrial appendage deteriorates
Solution Approach 1:
The end effector is designed with dynamic repositioning capabilities including rotation about its longitudinal axis and articulation relative to the shaft. This allows the end effector to change its orientation and position dynamically during the procedure, enabling precise clip placement on the left atrial appendage despite the constraints of minimally invasive access through small incisions
Solution Approach 2:
The articulation mechanism introduces an additional degree of freedom by allowing the end effector to articulate at an angle relative to the shaft axis. This dimensional change enables the end effector to reach targets that are not collinear with the shaft, improving positioning precision while maintaining the benefits of minimally invasive access
2Measurement precision
If the end effector is made repositionable with articulation and rotation mechanisms, then the precision of clip positioning is improved, but the device complexity increases
Solution Approach 1:
The articulation mechanism is segmented into discrete components including multiple articulation segments with interfaces between them. Each segment can articulate independently, allowing the complex motion to be broken down into manageable, modular components that are easier to manufacture, assemble, and maintain while achieving the desired positioning precision
3Adaptability or versatility
If multiple articulation segments are used in the articulation mechanism, then the range of motion and positioning flexibility are improved, but the device complexity and number of parts increase
Solution Approach 1:
The articulation segments are designed with universal interfaces and standardized components that can serve multiple functions. Each segment can articulate in multiple directions and can be configured for different ranges of motion, allowing a single modular component to provide versatile positioning capabilities without requiring numerous specialized parts
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 solution enhances the precision and ease of positioning occlusion clips, reducing the complexity of minimally invasive procedures and improving the effectiveness of left atrial appendage exclusion.
Implementation Method 1
a rotation mechanism, which may include a bearing assembly, to facilitate rotation of the end effector about its longitudinal axis
Data Source
AI summary
An end effector positioning mechanism for a surgical device may include an articulation mechanism including a plurality of tiltable segments disposed generally in a longitudinal row between an elongated shaft of a surgical device and an end effector of the surgical device. Each of the plurality of segments may be generally in the form of a flattened disk. At least one of the segments may include a proximal surface and/or a distal surface that is substantially planar and is oriented substantially orthogonally with respect to a central axis of the articulation mechanism. At least one of the segments may include a proximal surface and/or a distal surface including two transversely oriented, generally planar surfaces that meet along a substantially diametric peak.