Surgical Instrument Discrete Cammed Articulation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
In minimally invasive surgery, accessing tissue can be challenging due to anatomical constraints, often requiring additional incisions and instruments, which increases procedure time and expense, and complicates re-localization of the surgical site.
Innovation Solution
A surgical tool with an articulating end effector and shaft, featuring articulation bands and a central core, allows for controlled lateral flexion and discrete angular adjustments via an articulation gear with cam paths, enabling precise positioning without the need for additional incisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If additional incisions are made to access tissue, then tissue accessibility is improved, but the number of incisions increases
Solution Approach 1:
The end effector is made dynamically articatable relative to the shaft through a cam-based mechanism. The cam profile converts rotational motion of the articulation actuator into discrete angular positions of the end effector, enabling it to dynamically adjust its orientation to access tissue from various angles through a single incision, thereby resolving the contradiction between tissue accessibility and number of incisions.
2Adaptability or versatility
If additional surgical instruments are obtained, then tissue accessibility is improved, but procedure time and expense increase
Solution Approach 1:
The surgical instrument is designed with multi-functionality by incorporating an articulating end effector that can assume multiple orientations and positions relative to the shaft. This allows a single instrument to perform multiple functions and access tissue from different angles, eliminating the need to obtain additional specialized instruments during the procedure, thereby reducing procedure time and expense while maintaining adaptability.
3Adaptability or versatility
If additional surgical instruments are utilized, then tissue accessibility is improved, but re-localization of surgical site becomes difficult
Solution Approach 1:
The articulation mechanism is segmented into discrete angular positions defined by the cam profile and corresponding detent features. This segmentation allows the end effector to be positioned at specific, repeatable angles relative to the shaft, making it easier to re-localize the surgical site by returning the articulating joint to the same discrete position, thereby reducing the complexity of instrument reconfiguration while maintaining adaptability.
4Measurement precision
If continuous articulation is enabled, then positioning precision is improved, but mechanism complexity increases
Solution Approach 1:
The articulation mechanism employs periodic action through the cam profile, which is designed with specific geometric features that create discrete stable positions at predetermined angular intervals. The articulation actuator rotates the cam, and the cam's periodic profile engages with detent features to establish precise, repeatable positions. This periodic mechanism achieves positioning precision without requiring complex continuous control systems, thereby resolving the contradiction between positioning precision and mechanism complexity.
Data Source
Figure 1
Figure 2
Figure 3
AI summary
One example of a surgical apparatus may include an end effector; a shaft extending proximally from the end effector, the shaft including an articulation region; a handle including at least one button; an articulation gear held by the handle, where at least one cam path is defined in the articulation gear; and at least one holder post extending into each cam path; where actuation of one button causes the end effector to articulate through a discrete angular increment relative to the shaft.