Articulated Surgical Jaw Pulley Layout for Intuitive Bending Control
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Solution Overview
Problem
Conventional surgical instruments with unbendable end tools are not intuitive for operators to use, leading to difficulty in performing surgical operations, as the operation direction of the operator does not match the actual bending operation of the end tool, resulting in confusion and errors.
Innovation Solution
A surgical instrument with an end tool that includes independently rotating jaws and an operator configured to intuitively control pitch, yaw, and actuation motions, using a system of wires and pulleys to transmit the operator's forces to the end tool, ensuring the operation direction of the operator is identical to the end tool's motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a conventional surgical instrument uses an unbendable end tool, then the structure is simple and reliable, but it is not suitable for accessing a surgical region and performing various surgical operations
Solution Approach 1:
The end tool is divided into multiple segments that can bend relative to each other, allowing the tool to navigate complex surgical pathways while maintaining structural integrity through controlled articulation points
Solution Approach 2:
The end tool transitions from a static unbendable structure to a dynamic bendable structure that can adapt its configuration during surgical operations, enabling access to various surgical regions through controlled bending motions
2Adaptability or versatility
If a surgical instrument having a bendable end tool is developed, then it can access surgical region, but an operation of an operator for bending the end tool is not intuitively identical to an actual bending operation
Solution Approach 1:
The operator interface is designed to reverse the control logic, where moving the operator in one direction produces the intuitive corresponding movement in the end tool, eliminating the need for operators to mentally translate non-intuitive control signals
Solution Approach 2:
The system incorporates feedback mechanisms that provide real-time information about end tool position and orientation to the operator, allowing for intuitive control through natural hand-eye coordination without requiring complex mental transformations
3Adaptability or versatility
If a bendable end tool is used, then various surgical operations can be performed, but it takes a long time to learn how to use the surgical instrument
Solution Approach 1:
The surgical instrument provides self-aligning and self-correcting features that guide the operator through proper manipulation techniques automatically, reducing the need for extensive training and allowing operators to become proficient through natural interaction with the intuitive control system
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 the convenience, accuracy, and speed of surgical operations by making the operator's actions directly correspond to the end tool's movements, reducing the likelihood of errors and improving the learning curve for operators.
Implementation Method 1
an operating force transmitter including a first jaw wire connected with the first jaw to transmit an operation of the operator to the first jaw, a second jaw wire connected with the second jaw to transmit an operation of the operator to the second jaw
Implementation Method 2
one or more differential members transmitting a rotation of the yaw operator or the actuation operator to the first jaw or the second jaw via the first jaw wire or the second jaw wire
Data Source
AI summary
Provided is an end tool including: a first jaw configured to rotate independently; a J11 pulley coupled with the first jaw and configured to rotate around a first axis formed at an end tool hub; a J16 pulley formed at one side of the J11 pulley and configured to rotate around a second axis formed at one side of the first axis; a J12 pulley and a J14 pulley formed at one side of the J16 pulley, and configured to rotate around a third axis formed at a predetermined angle with the first axis. The end tool may further include: a first jaw wire configured to at least partially contact the J12 pulley, the J11 pulley, the J16 pulley, and the J14 pulley; a J16 pulley formed between the J11 pulley and a J12 pulley/a J14 pulley; and the first jaw wire is located on an internal tangent of the J11 pulley and the J16 pulley.