Minimally Invasive Surgical Instrument Wire Control
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Solution Overview
Problem
Minimally invasive surgical instruments face challenges in easily controlling the joint motion states and rolling of end effectors, particularly in maintaining fixed joint positions during surgical procedures.
Innovation Solution
A minimally invasive surgical instrument design featuring a shaft and end effector with cooperative operation of first and second wires, allowing the end effector to move in pitch, yaw, and roll directions, with the ability to fix joint motion states and operate in a motor-based system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the end effector is designed to operate in multiple directions (pitch, yaw, roll) using cooperative wire operation, then the versatility and functionality of the surgical instrument is improved, but the device complexity and difficulty of control increases
Solution Approach 1:
The control system is segmented into independent wire pairs, where the first wire pair controls pitch/yaw motion and the second wire pair controls roll motion. This segmentation allows each wire pair to be controlled independently, simplifying the overall control complexity while maintaining multi-directional capability.
Solution Approach 2:
The same first and second wires are used to control multiple degrees of freedom through different cooperative operation modes. By operating the wires in the same direction, pitch or yaw motion is achieved; by operating them in opposite directions, roll motion is achieved. This universal wire control mechanism reduces the need for separate control systems for each motion type.
2Reliability
If the joint motion states of the end effector are fixed during surgery, then the stability and precision of surgical operations is improved, but the ease of operation and adaptability decreases
Solution Approach 1:
The joint motion states are designed to be dynamically controllable rather than fixed. During surgery, the wires can be adjusted to fix the joint at desired positions when stability is needed, or released to allow motion when flexibility is required. This dynamic control capability enables the system to adapt between stability and ease of operation based on surgical requirements.
Data Source
AI summary
A minimally invasive surgical instrument is provided, comprising a shaft and an end effector connected to the shaft, wherein the end effector operates in the pitch or yaw direction against the shaft when a first wire and a second wire conveyed through the shaft operate cooperatively according to a first aspect; and the end effector operates in the roll direction against the shaft when the first wire and the second wire operate cooperatively according to a second aspect, wherein the first wire and the second wire operate in the same direction when the cooperative operation is according to one aspect of the first aspect and the second aspect; and the first wire and the second wire operate in the opposite directions when the cooperative operation is according to the other aspect of the first aspect and the second aspect.