Surgical Instrument Gear Arrangement for End Effector Pivoting
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional minimally invasive surgical instruments have limited degrees of freedom and maneuverability, restricting the surgeon's ability to perform precise interventions, which can prolong operations and increase the risk of complications.
Innovation Solution
A gear arrangement with two drive units and translatory transmission elements allows for independent control of the end effector's opening/closing and pivoting, providing improved maneuverability through a whiffletree or planetary gear mechanism, enabling intuitive and precise control of the instrument's movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional rigid instruments are used for minimally invasive surgery, then the instrument structure is simple, but the freedom of movement and maneuverability is limited
Solution Approach 1:
The end effector is divided into two independent parts (first and second function units) that can move relative to each other. Each part is controlled by a separate drive unit, allowing independent actuation of opening/closing and pivoting movements, thereby increasing freedom of movement while maintaining manageable structural complexity through modular design
Solution Approach 2:
The invention adds a pivoting degree of freedom in addition to the opening/closing motion. The end effector can now pivot laterally relative to the instrument shaft axis, transitioning from one-dimensional (opening/closing only) to two-dimensional movement capability, significantly enhancing maneuverability in minimally invasive procedures
2Adaptability or versatility
If the end effector is designed to pivot laterally, then maneuverability is improved, but the mechanical construction becomes complicated
Solution Approach 1:
The mechanical system is segmented into two independent drive units: a first drive unit for opening/closing the end effector and a second drive unit for pivoting. This segmentation allows each subsystem to be optimized independently, reducing the overall mechanical complexity compared to a coupled system where both functions share common mechanical elements
Solution Approach 2:
The invention employs dynamic transmission elements (such as cable pulls or push rods) that can transmit forces flexibly along the instrument shaft. These dynamic elements allow the pivoting and opening/closing functions to be actuated independently without requiring complex rigid mechanical linkages, thereby reducing structural complexity while maintaining pivoting capability
3Measurement precision
If separate drive units are used for each degree of freedom, then control precision is improved, but the device complexity increases
Solution Approach 1:
Each degree of freedom (opening/closing and pivoting) is assigned its own dedicated drive unit, allowing independent and precise control of each function. This segmentation enables the surgeon to control each movement separately with high precision while the modular architecture keeps the overall system complexity manageable through standardized interface designs
Solution Approach 2:
The drive units are designed with universal actuation mechanisms that can control their respective functions through standardized transmission elements. This multi-functionality approach allows a single drive unit design to handle both opening/closing and pivoting operations, reducing the need for completely separate mechanical systems and thereby limiting the increase in device complexity
Data Source
AI summary
A gear arrangement including two drive units (210, 220, 310, 320, 410), and two translatory transmission elements (151, 152, 251, 252, 351, 352), to each of which a rotationally movable function unit (141, 142) of a distally arranged two-part end effector (140) can be coupled. The first drive unit (210, 310, 410) has at least one proximally arranged rotation element (311, 411) or a thrust element (210) for opening or closing the end effector (140) by rotation of at least one function unit (141, 142). The second drive unit (220, 320), with which the translatory transmission elements (151, 152, 251, 252, 351, 352) are movable in opposite directions, has at least one proximally arranged rotation element (224, 320, 421) for simultaneous and unidirectional pivoting of the function units (141, 142) of the end effector (140). A surgical instrument includes the gear arrangement (200, 300, 400) in the handle (180).