Cable-Driven Surgical Jaw Articulation With Fewer Control Cables
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Solution Overview
Problem
Current surgical robotic systems face limitations in dexterity and complexity due to the number of wires and cables required for controlling instruments with multiple degrees of freedom, which can complicate procedures and increase the size of the instrument shaft.
Innovation Solution
The use of a cable-driven mechanism with a pair of jaw members and a pulley system that allows for independent pivot motion of jaw members, utilizing four drive cables to achieve pitch, yaw, and jaw actuation, while also enabling the delivery of electrical energy through mechanical control cables, reducing the overall size and complexity of the instrument shaft.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If multiple wires and cables are used to control instruments with multiple degrees of freedom, then the dexterity and control precision are improved, but the device complexity and instrument shaft size increase
Solution Approach 1:
The patent combines multiple control functions into a single cable system. The cable-driven mechanism integrates pitch, yaw, and jaw actuation controls into one unified cable assembly, eliminating the need for separate wires and cables for each degree of freedom. This merging approach maintains full dexterity while reducing overall system complexity.
Solution Approach 2:
The single cable system performs multiple functions simultaneously - it controls pitch motion, yaw motion, and jaw actuation. This multi-functional cable design replaces what would traditionally require multiple separate control elements, thereby reducing device complexity while preserving operational dexterity.
2Measurement precision
If multiple separate wires and cables are used for control functions, then the control precision is improved, but the instrument shaft size and procedure complexity increase
Solution Approach 1:
Multiple control functions are merged into a single cable-driven mechanism that maintains precision control. The integrated cable system delivers accurate actuation for pitch, yaw, and jaw movements while occupying less space within the instrument shaft compared to multiple separate control elements.
3Power
If electrical energy delivery is achieved through separate cables, then the energy delivery capability is improved, but the device complexity increases
Solution Approach 1:
The patent merges electrical energy delivery with mechanical control functions into the same cable system. The cable-driven mechanism simultaneously transmits both mechanical actuation forces and electrical energy, eliminating the need for separate electrical cables and reducing overall device complexity.
Solution Approach 2:
The cable system serves dual purposes - mechanical control and electrical energy delivery. This multi-functional design allows a single cable assembly to perform both actuation and power transmission, thereby maintaining energy delivery capability while reducing the total number of cables required.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This configuration enhances dexterity and simplifies complex surgical tasks by minimizing the number of wires and cables, allowing for efficient movement and energy delivery, thereby improving the usability and precision of surgical instruments.
Implementation Method 1
a pulley system that allows for independent pivot motion of jaw members, utilizing four drive cables to achieve pitch, yaw, and jaw actuation
Data Source
AI summary
An end effector of surgical instrument includes a distal jaw with a stem extending proximally from the distal jaw. The stem is captured between a medial component and a lateral component. An axial post integrated with the medial component extends through a collar in the step into an opening in the lateral component.