Surgical Instrument Linkage Member Decouples Movement
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Solution Overview
Problem
Existing minimally invasive surgical instruments experience unnecessary movements being transmitted to the end effector, affecting the accuracy and precision of surgical operations during minimally invasive surgeries.
Innovation Solution
A surgical instrument design featuring a surgical effector assembly connected to a flexible snake-like assembly and a linkage member with two rotational degrees of freedom, allowing the flexible snake-like assembly to rotate in consistent directions with the manipulation assembly, thereby enhancing directional accuracy and action precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a traditional minimally invasive surgical instrument is used, then the instrument can perform surgical operations through small incisions, but unnecessary movements are easily transmitted to the end effector, affecting surgical accuracy
Solution Approach 1:
The surgical instrument is divided into multiple independent segments: manipulation assembly, linkage member with spherical hinge, flexible snake-like assembly, and surgical effector assembly. Each segment can move independently with controlled degrees of freedom, preventing unnecessary movements from being transmitted along the entire length of the instrument to the end effector.
Solution Approach 2:
The linkage member with spherical hinge acts as an intermediary between the manipulation assembly and the flexible snake-like assembly. It transforms and decouples the movement directions, allowing the manipulation assembly to rotate about first and second axes while the flexible snake-like assembly rotates about fifth and sixth axes, thereby filtering out unnecessary movements.
2Measurement precision
If the linkage member has two rotational degrees of freedom to improve directional accuracy, then the swing directions of the surgical effector assembly are consistent with the manipulation assembly, but the device complexity increases
Solution Approach 1:
The linkage member incorporates a spherical hinge that enables rotation about multiple axes intersecting at a common spherical center. This spherical geometry naturally provides two rotational degrees of freedom while maintaining a compact and elegant structure, avoiding the need for complex mechanical mechanisms to achieve the same functionality.
Data Source
AI summary
A surgical instrument (10), comprising: a surgical execution component (100), a linkage part (200), and a manipulation component (300), the distal end of the linkage part (200) being connected to the surgical execution component (100) and the proximal end of the linkage part (200) being connected to the manipulation component (300). The surgical instrument (10) uses the linkage part (200) having two rotational degrees of freedom, such that when the manipulation component (300) drives, by means of the linkage part (200), the surgical execution component (100) to rotate at a fifth rotational degree of freedom (R5) and/or a sixth rotational degree of freedom (R6), the swing directions of the surgical execution component (100) and the manipulation component (300) at a first rotational degree of freedom (R1) and a second rotational degree of freedom (R2) are consistent. Therefore, the surgical instruction (10) implements technical effects of improving the moving direction accuracy of the surgical execution component (100), improving the accuracy of the action of the surgical instruction (10), and facilitating surgical operations.