Surgical Manipulation Instrument Axial-to-Pivot Coupling
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Solution Overview
Problem
Surgical manipulation instruments used in minimally invasive surgery face challenges with limited intra-corporeal degrees of freedom due to the need for autoclaving, which renders actuators non-compatible, and existing coupling mechanisms are either complex or prone to misalignment, leading to inefficient movement and potential automatic control issues.
Innovation Solution
A surgical manipulation instrument with axially displaceable actuation elements connected via a reliable coupling device, allowing for precise axial displacement and translation of movements, enabling improved manipulability and precise handling by using pivotable intermediate elements and bifurcated recesses for secure engagement of actuation elements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Duration of action of stationary object
If actuators are integrated into the intra-corporeal manipulator part, then continuous operation is possible, but the instrument cannot be autoclaved
Solution Approach 1:
The instrument is divided into two separable parts: an extra-corporeal drive portion containing actuators and an intra-corporeal manipulator part. This segmentation allows the manipulator part to be autoclaved while the drive portion with sensitive actuators remains outside the sterile field, resolving the contradiction between continuous operation and autoclave compatibility.
2Object-affected harmful factors
If a coupling device is used to connect drive portion and manipulator part, then separability for autoclaving is achieved, but alignment precision and movement transmission are compromised
Solution Approach 1:
The coupling device replaces complex mechanical alignment systems with a simplified connection mechanism. The drive shaft connects to the manipulator part through a coupling that accepts a certain degree of misalignment, eliminating the need for precise alignment while maintaining effective movement transmission. This resolves the contradiction between separability for autoclaving and alignment precision.
3Ease of operation
If play is provided between coupling bodies for smooth coupling, then coupling operation is facilitated, but automatic control becomes impossible
Solution Approach 1:
The coupling device extracts the alignment requirement from the connection process. By designing the coupling to accommodate misalignment through its geometric configuration rather than requiring precise positioning, the system achieves smooth coupling operation without compromising automatic control capability, as the coupling tolerances do not interfere with controlled movement transmission.
Data Source
AI summary
A surgical manipulation instrument which is particularly suitable for minimal invasive surgery, comprising an extra-corporeal drive device to which several axially displaceable first actuation elements are connected. The disclosure also relates to a partial intra-corporeal manipulator part which comprises several axially displaceable second actuation devices for actuating an end effector. Pairs of actuation elements are detachably connected together by means of a coupling device. A pivotable intermediate element is provided between the second coupling element and the second actuation element.