Surgical Instrument Single Drive Input Two End Effector Mechanisms
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Solution Overview
Problem
Existing minimally invasive telesurgical robotic systems face challenges in manipulating surgical instruments with more than four functions, as they often require more drive couplers than available, limiting the functionality of surgical robots.
Innovation Solution
A surgical assembly that uses a single input link to sequentially articulate two members, such as a jaw and a cutter, through a range of motion, allowing a robotic arm with four output couplers to manage instruments with five functions by decoupling motion during different portions of the range to independently manipulate the jaw and cutter.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robotic arm with four output couplers is used to manipulate surgical instruments, then the device complexity is reduced and points of failure are minimized, but the instrument functionality is limited to four functions
Solution Approach 1:
The patent segments the range of motion of a single input link into distinct portions, where each portion actuates a different end effector mechanism. The input link's rotational range is divided such that the first portion (e.g., 0-180 degrees) actuates the first mechanism while the second portion (e.g., 180-360 degrees) actuates the second mechanism, allowing one input to control multiple functions sequentially
Solution Approach 2:
The patent employs dynamic coupling and decoupling mechanisms that change the transmission path based on the input link's position. As the input link rotates through different angular ranges, the system dynamically shifts which end effector mechanism is actuated, enabling a single drive input to provide multiple functions at different stages of the motion cycle
2Adaptability or versatility
If multiple drive couplers are integrated in the mounting fixture to increase instrument functionality, then the adaptability of the robotic system is improved, but the device complexity and number of points of failure increase
Solution Approach 1:
The patent makes a single input link and its associated drive mechanism universal by designing it to actuate multiple different end effector mechanisms through different portions of its range of motion. The same input link can sequentially control a first end effector mechanism and a second end effector mechanism, eliminating the need for separate dedicated drive couplers for each function
3Device complexity
If a single input link is used to actuate two end effector mechanisms through different portions of range of motion, then the device complexity is reduced, but the control precision for each individual mechanism may be compromised
Solution Approach 1:
The patent segments the control range into distinct portions allocated to different end effector mechanisms. By dedicating specific angular ranges to specific functions, the system ensures that each mechanism receives precise, dedicated control within its allocated range without interference from other functions
Solution Approach 2:
The patent introduces transmission elements such as gears, linkages, or cam mechanisms that act as intermediaries between the input link and the end effector mechanisms. These intermediary elements can provide mechanical advantage, motion transformation, and precise control within each segment of the input link's range of motion, maintaining actuation precision despite the shared input
Data Source
AI summary
Methods for treating tissue, and surgical assemblies and related methods are disclosed in which a single input is used to sequentially articulate two members. A medical device includes an input link movable through an input link range of motion, a jaw coupled with the input link, and a tissue manipulation member coupled to the input link and positioned to manipulate a tissue gripped by the jaw. The input link range of motion includes a first portion and a second portion. The input link within the first portion of the input link range of motion drives the jaw through a jaw range of motion. The input link within the second portion of the input link range of motion drives the tissue manipulation member through a tissue manipulation member range of motion.