Articulating Surgical Instrument End Effector Band Actuation

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Solution Overview

Problem

Existing minimally invasive surgical instruments face challenges in articulating end effectors due to the complexity of integrating articulation mechanisms with the end effector operating mechanisms within the small diameter constraints of the instrument's shaft, limiting the ability to adjust the end effector's position and orientation effectively.

Innovation Solution

The surgical instrument employs a shaft with an end effector mechanically coupled at an articulation pivot, utilizing a system of bands or hydraulic bladders that apply forces transverse to the shaft's longitudinal axis to rotate the end effector, allowing for independent control of the end effector's position and orientation through a mechanism that includes an articulation slide and hydraulic actuation.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If an articulation mechanism is integrated with the end effector operating mechanisms within the shaft, then the end effector can be articulated to adjust position and orientation, but the device complexity increases due to the need to fit multiple mechanisms within the small diameter shaft

Engineering Contradiction:

Improvearticulation capabilityVSAvoidmechanism integration complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent implements articulation by nesting a pivot mechanism within the existing shaft structure. The articulation pivot is positioned within the shaft, and the end effector is coupled to the shaft through this pivot, allowing the end effector to rotate relative to the shaft while maintaining a compact configuration that fits within the small diameter constraints of the instrument.

Inventive Principle:

Principle #7Nested doll (Nesting)

Solution Approach 2:

The patent segments the articulation control into separate components: an articulation slide that moves independently along the shaft, and an articulation control member that couples to the end effector. This segmentation allows the articulation mechanism to be distributed along the length of the shaft rather than concentrated in one location, reducing local complexity while enabling articulation functionality.

Inventive Principle:

Principle #1Segmentation

2Measurement precision

If the end effector is articulated to improve surgical placement precision, then access to difficult areas is enhanced, but the risk of interference from the instrument shaft increases

Engineering Contradiction:

Improvesurgical placement precisionVSAvoidshaft interference

Core Design Contradiction:

Measurement precisionVSObject-affected harmful factors

Solution Approach 1:

The patent adds a rotational degree of freedom to the end effector through articulation, enabling it to operate in multiple orientations relative to the shaft. This dimensional change allows the end effector to access difficult surgical areas by rotating to appropriate angles, improving placement precision while the articulation mechanism is designed to minimize shaft interference through proper positioning and clearance.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

3Ease of operation

If a mechanism is added to control end effector articulation independently from position, then orientation control is improved, but the device complexity increases

Engineering Contradiction:

Improveindependent orientation controlVSAvoidcontrol mechanism complexity

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The articulation slide serves multiple functions: it controls articulation of the end effector, maintains proper positioning of the articulation mechanism, and can be integrated with the existing shaft structure. This multi-functionality reduces the need for separate dedicated components for each function, thereby limiting the increase in device complexity while achieving independent orientation control.

Inventive Principle:

Principle #6Universality (Multi-functionality)

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 articulation of end effectors, enabling more precise surgical placement and tissue manipulation by allowing the end effector to be rotated relative to the shaft, improving access and reducing the risk of interference from the instrument's shaft.

Implementation Method 1

utilizing a system of bands or hydraulic bladders that apply forces transverse to the shaft's longitudinal axis to rotate the end effector

Methodology Applied

Scientific EffectHydraulic actuation: Hydraulic Press

Data Source

PatentUS7670334B2Surgical instrument having an articulating end effector

Publication Date: 2010.03.02 ETHICON ENDO SURGERY INC

AI summary

An articulating surgical instrument is shown, which comprises a shaft and an end effector. The shaft has a longitudinal axis, and the end effector is operationally coupled, preferably mechanically coupled, to the shaft at an articulation pivot. The instrument also comprises a first band, and in some embodiments, a second band, each operationally connected to the end effector and extending through at least a portion of the shaft. An articulation control applies a force in a direction substantially transverse to the longitudinal axis, wherein the force, when applied in one direction, is translated through the first band to the end effector to effect rotation of the end effector relative to the shaft about the articulation pivot in a first rotational direction, and when the force is applied in the opposite direction, is translated through the second band to the end effector to effect rotation of the end effector relative to the shaft about the articulation pivot in a second rotational direction.