Mechanical Surgical Handle and Effector for Intuitive Multi-DOF Control
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Solution Overview
Problem
Existing minimally invasive surgical instruments lack sufficient degrees of freedom and intuitive control, requiring extensive training and often interfering with natural hand movements, while surgical robots are costly, bulky, and have limited availability.
Innovation Solution
A mechanically operated device mimics the user's hand motions through a handle assembly and effector assembly, utilizing actuators, gimbals, and kinematic chains to provide improved dexterity and intuitive control, allowing for a range of movements including heaving, pitching, rolling, surging, swaying, and yawing, without the need for attachment to the user's body.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If surgical robots are used to improve dexterity and degrees of freedom, then manipulation capability is improved, but device complexity, cost, and procedure time increase
Solution Approach 1:
The device is divided into a handle assembly with actuators and an effector assembly with kinematic chains, allowing independent control of multiple degrees of freedom through modular components rather than a monolithic robotic system
Solution Approach 2:
Complex robotic control systems are replaced with a mechanically operated system using actuators, cables, and kinematic chains that directly translate surgeon hand movements into multi-axis effector movements without requiring sophisticated electronic control
2Adaptability or versatility
If surgical robots are used to improve dexterity, then manipulation capability is improved, but cost increases
Solution Approach 1:
The device uses simpler, more cost-effective mechanical components such as actuators and kinematic chains that can be manufactured at lower cost compared to sophisticated robotic systems, while maintaining adequate performance for minimally invasive surgery
Solution Approach 2:
The effector assembly replicates the surgeon's hand movements and gestures through mechanically coupled actuators and kinematic chains, providing intuitive control without requiring expensive robotic automation
3Adaptability or versatility
If surgical robots are used to improve degrees of freedom, then manipulation capability is improved, but procedure time increases
Solution Approach 1:
The device is pre-configured with multiple actuators and kinematic chains that are ready to provide multi-axis movement capability from the start, eliminating the need for complex setup and calibration procedures required by robotic systems
Solution Approach 2:
The mechanically coupled system automatically translates surgeon inputs into coordinated multi-degree-of-freedom effector movements without requiring external control systems, programming, or complex operation procedures
4Device complexity
If traditional minimally invasive instruments are used, then device simplicity is maintained, but degrees of freedom and manipulation capability are limited
Solution Approach 1:
Multiple actuator assemblies and kinematic chains are integrated into a single effector assembly, combining several degrees of freedom into one device while maintaining mechanical simplicity through direct coupling rather than complex control systems
Solution Approach 2:
The device adds multiple rotational and translational degrees of freedom to the traditional linear instrument by incorporating actuators that move about different points and kinematic chains that enable multi-axis movement
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
Enhances dexterity and intuitive control in minimally invasive procedures, reducing training time and procedure duration, and eliminating the need for bulky surgical robots.
Implementation Method 1
the first primary actuator is configured to displace the second primary actuator thereby to impart translational motion to each primary connecting cable
Implementation Method 2
reciprocally displace at least one primary connecting cable along a longitudinal axis of the at least one primary connecting cable and thereby enable movement of the at least first part of the flexible kinematic chain
Data Source
AI summary
A mechanically operated device and methods of use thereof. The mechanically operated device (10) has a handle assembly (15) sized and shaped for grasping by a user and an effector assembly (20). The effector assembly (20) includes a first primary actuator (225) tiltable about a first point, a second primary actuator (230) tiltable about a second point, and a tubular member (35). The tubular member (35) has a first end (40) positioned proximal to the second primary actuator (230). A flexible kinematic chain (50) is positioned at a second end (45) of the tubular member (35). A plurality of primary connecting cables (255) are coupled to the second primary actuator (230) and at least a first part of the flexible kinematic chain (50).