Surgical Jaw Electrode Layout for Forceful Cutting and Fastening
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Solution Overview
Problem
Existing robotic surgical systems are limited in generating the necessary forces for effective tissue cutting and fastening and can only operate a limited number of surgical devices.
Innovation Solution
The development of a surgical end effector configuration with enhanced jaw mechanisms and electrode configurations, including a drive shaft assembly and articulation system, allows for improved force generation and versatility in surgical operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If existing robotic surgical systems use conventional end effectors, then the system structure remains simple, but the force generation capability is insufficient for effective tissue cutting and fastening
Solution Approach 1:
The end effector is divided into multiple jaw members (first jaw member and second jaw member) that can independently move and apply force. Each jaw member can be actuated separately through the drive shaft assembly, allowing distributed force application for effective tissue cutting and fastening while maintaining manageable structural complexity through modular segmentation.
Solution Approach 2:
The end effector employs dynamic jaw members that can move between open and closed positions through the drive shaft assembly mechanism. The jaw members can apply variable forces during different phases of surgical operations (cutting vs. fastening), enabling high force generation capability when needed while maintaining system simplicity through controlled dynamic movement rather than complex static structures.
2Adaptability or versatility
If robotic surgical systems are designed to operate multiple types of surgical devices, then system versatility improves, but the complexity of the robotic system increases
Solution Approach 1:
The end effector is designed with universal functionality to support multiple surgical operations through a single integrated structure. The same end effector can perform tissue cutting, fastening, and other surgical tasks by varying the jaw member configurations and electrode arrangements, eliminating the need for multiple specialized devices and reducing overall system complexity while maintaining high versatility.
Solution Approach 2:
The system uses dynamic reconfiguration of the end effector components (jaw members and electrodes) to adapt to different surgical needs. The drive shaft assembly enables dynamic adjustment of jaw positions and electrode configurations, allowing a single end effector design to serve multiple surgical functions without requiring complex system redesigns for each application type.
3Ease of operation
If the jaw members are designed with complex articulation mechanisms, then the dexterity and precision of tissue manipulation improves, but the force generation capability decreases
Solution Approach 1:
The articulation mechanism is segmented into modular components (drive shaft assembly, jaw members, and connecting linkages) that can independently provide dexterity while collectively generating force. Each segmented component contributes to precise positioning, while the combined action of multiple jaw members applying force through the segmented drive shaft assembly achieves both high dexterity and sufficient force generation capability.
Solution Approach 2:
The jaw members employ dynamic articulation mechanisms that allow precise movement and positioning during surgical operations. The drive shaft assembly enables dynamic adjustment of jaw positions and angles, providing the necessary dexterity and precision for tissue manipulation while maintaining the capability to generate high forces when the jaw members are positioned to apply clamping or cutting forces.
Data Source
AI summary
A surgical end effector may comprise first and second jaw members. The second jaw member may comprise an offset proximal supply electrode that is positioned to contact an opposing member of the first jaw member when the first and second jaw members are in the closed position. The second jaw member may also comprise a distal supply electrode that is positioned distal of the offset proximal electrode and is aligned with a conductive surface of the first jaw member when the first and second jaw members are in the closed position. When the first and second jaw members are in the closed position, the proximal supply electrode may be in contact with the opposing member and the distal supply electrode is not in contact with the conductive surface of the first jaw member.