Surgical Instrument Tip With Nested Orthogonal Articulation
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Solution Overview
Problem
Existing surgical instruments for minimally invasive surgery lack compactness and efficient articulation, leading to issues such as large sweeping motions, differential offsets, and unpredictable changes in end-effector position, which can cause tissue damage and require larger surgical access regions.
Innovation Solution
A surgical instrument tip design featuring a cradle that rotates about a pitch axis, with end-effectors pivotable about orthogonal grip axes, allowing independent movement and intersection at a common point, and actuated by mechanical mechanisms for precise control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If surgical instruments are designed with multiple degrees of freedom for articulation, then functionality in the operation site is improved, but device complexity and size increase
Solution Approach 1:
The surgical instrument employs nested articulation mechanisms where the cradle rotates about a pitch axis, and end-effectors pivot about grip axes that are orthogonal to the pitch axis. This nested configuration allows multiple degrees of freedom to be achieved within a compact structure, with each articulation mechanism contained within the previous one, thereby improving functionality without proportionally increasing overall device complexity
Solution Approach 2:
The invention introduces orthogonal axes of rotation (pitch axis and grip axes) that operate in different dimensions. By arranging rotation axes perpendicular to each other, the instrument achieves three-dimensional articulation capability without requiring proportional increases in linear dimensions, thus improving adaptability while controlling device size
2Adaptability or versatility
If end-effectors are designed to articulate with large sweeping motions, then range of motion is improved, but tissue damage increases
Solution Approach 1:
The articulation system is segmented into distinct rotational components: a cradle providing pitch rotation and end-effectors providing grip rotations. This segmentation allows each component to contribute to the overall range of motion through small, controlled movements rather than requiring large sweeping motions from a single mechanism, thereby achieving full range of motion while minimizing tissue damage
Solution Approach 2:
The orthogonal arrangement of rotation axes and the intersecting at common point design preemptively counteract unwanted sweeping motions. By configuring the mechanics so that pitch and grip rotations occur on perpendicular axes intersecting at a common point, the system inherently prevents the coupled unwanted movements that would otherwise cause tissue damage
3Adaptability or versatility
If differential offsets for pitch and yaw axes are used in end-effector movement, then articulation flexibility is improved, but predictability of end-effector position deteriorates
Solution Approach 1:
The common intersection point serves as a universal reference for all rotation axes (pitch axis and grip axes). This universal pivot point allows the system to achieve articulation flexibility through multiple axes while maintaining predictable end-effector positioning, as all rotations are referenced from the same fixed point, enabling precise calculation of final position regardless of the sequence of movements
4Object-affected harmful factors
If surgical instruments are designed for minimally invasive surgery with small incisions, then patient trauma is reduced, but access to operation site becomes more constrained
Solution Approach 1:
The surgical instrument incorporates dynamic articulation capabilities with multiple degrees of freedom, allowing the end-effector to adapt its orientation and position in real-time within the constrained access provided by small incisions. The cradle and end-effectors can rotate independently about orthogonal axes, enabling the instrument to reach and manipulate tissues in confined spaces while maintaining minimal patient trauma through small incisions
Data Source
AI summary
A tip for a surgical instrument comprising a cradle that is moveably mounted to a distal end of an elongate shaft. The cradle is rotatable relative to the elongate shaft about a pitch axis. A member is pivotally coupled to the cradle to move with and relative to the cradle about a grip axis that is substantially orthogonal to the pitch axis. The member is movable relative to the cradle about a yaw axis. In some embodiments, there is a second member that is pivotally coupled to the cradle to move with and relative to the cradle about a second grip axis that is substantially orthogonal to the pitch axis. In some embodiments, the first member and second member are selectably movable relative to each other between a closed configuration in which the first member contacts the second member and an open configuration.