Articulated Surgical End Tool With Intuitive Pitch-Yaw Control

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Solution Overview

Problem

Conventional surgical instruments with unbendable end tools are not intuitive for operators, making it difficult to perform surgical operations accurately and efficiently, as the operation direction of the operator does not match the actual bending direction of the end tool, leading to confusion and increased learning time.

Innovation Solution

A surgical instrument with a bendable end tool and an operator system that includes a pitch operator, yaw operator, and actuation operator, connected via wires and pulleys, allowing the end tool to rotate in directions that are intuitively identical to the operator's motions, ensuring alignment and ease of use.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If a conventional surgical instrument uses an unbendable end tool, then the structure is simple and easy to manufacture, but it is not suitable for accessing surgical regions and performing various surgical operations

Engineering Contradiction:

Improveability to access surgical regionVSAvoidstructure complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The end tool is divided into multiple segments that can bend relative to each other, allowing the tool to navigate complex surgical pathways while maintaining structural control through articulated joints

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The end tool transitions from a static unbendable structure to a dynamic bendable structure with multiple degrees of freedom, enabling it to adapt its shape and orientation to access different surgical regions

Inventive Principle:

Principle #15Dynamics

2Adaptability or versatility

If a surgical instrument has a bendable end tool, then it can access surgical regions effectively, but the operator's control operation is not intuitively identical to the actual bending operation

Engineering Contradiction:

Improvebending capabilityVSAvoidintuitive control

Core Design Contradiction:

Adaptability or versatilityVSEase of operation

Solution Approach 1:

The control mechanism inverts the traditional control scheme so that the operator's hand movements directly correspond to the end tool's bending directions, making the control intuitive by reversing the conventional non-intuitive approach

Inventive Principle:

Principle #13The other way round (Inversion)

Solution Approach 2:

The operator interface copies the actual bending motions of the end tool, creating a direct kinematic relationship where operator movements are replicated at the tool tip, enabling intuitive control through motion copying

Inventive Principle:

Principle #26Copying

3Device complexity

If the operator's operation direction does not match the end tool's bending direction, then the control mechanism is simple, but it causes confusion and increases learning time

Engineering Contradiction:

Improvecontrol mechanism simplicityVSAvoidlearning time

Core Design Contradiction:

Device complexityVSLoss of time

Solution Approach 1:

The control mechanism incorporates feedback that aligns the operator's input direction with the end tool's response direction, providing intuitive directional correspondence that reduces confusion and accelerates learning

Inventive Principle:

Principle #23Feedback

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 enhances the convenience, accuracy, and speed of surgical operations by making the operation direction of the operator and end tool identical, reducing the likelihood of errors and improving operator intuition.

Implementation Method 1

an operating force transmitter including a first jaw wire connected with the first jaw to transmit an operation of the operator to the first jaw, a second jaw wire connected with the second jaw to transmit an operation of the operator to the second jaw

Methodology Applied

Scientific EffectMechanical Force: Mechanical Force

Implementation Method 2

one or more differential members transmitting a rotation of the yaw operator or the actuation operator to the first jaw or the second jaw via the first jaw wire or the second jaw wire

Methodology Applied

Scientific EffectGear mechanism: Gear

Data Source

PatentUS11246615B2Surgical instrument

Publication Date: 2022.02.15 LIVSMED INC

AI summary

Provided is a surgical instrument including: an end tool including a first jaw and a second jaw configured to rotate independently; an operator including a pitch operator controlling a pitch motion of the end tool, a yaw operator controlling a yaw motion of the end tool, and an actuation operator controlling an actuation motion of the end tool; an operating force transmitter including a first jaw wire connected with the first jaw to transmit an operation of the operator to the first jaw, a second jaw wire connected with the second jaw to transmit an operation of the operator to the second jaw, and one or more differential members transmitting a rotation of the yaw operator or the actuation operator to the first jaw or the second jaw via the first jaw wire or the second jaw wire; and a connector configured to extend in a first direction (X axis) and having one end portion coupled to the end tool and the other end portion coupled to the operator to connect the operator and the end tool, wherein the pitch operator is configured to rotate around a second direction (Y axis) perpendicular to the first direction; and at least a portion of the operator is configured to be more adjacent to the end tool than a rotating axis of the operator in at least any one operation state of the operator.