Multi-Plane Surgical Joint Control for Precise End Effector Positioning
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Solution Overview
Problem
Existing surgical equipment lacks efficient mechanisms for precise and versatile control of end effectors in minimally invasive procedures, particularly for positioning and deployment of atrial appendage occlusion devices, and often requires complex integration with flexible endoscopes.
Innovation Solution
A medical instrument with a combination of active and passive repositioning mechanisms, including a first joint for X-Y plane movement and a second joint for Y-Z plane movement, controlled by a controller with multiple controls to facilitate infinite adjustments and locking positions, allowing for precise manipulation of end effectors such as clip deployment devices.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a passive repositioning mechanism is used to allow free movement of the end effector, then ease of operation is improved, but manufacturing precision deteriorates due to inability to maintain locked positions
Solution Approach 1:
The repositioning mechanism transitions between two states: a locked state where the end effector is held at a specific position, and an unlocked state where free movement is permitted. This dynamic switching enables the system to provide both operational ease during adjustment and positioning precision during deployment, resolving the contradiction between ease of operation and manufacturing precision
2Manufacturing precision
If an active repositioning mechanism is used to provide infinite adjustments, then positioning precision is improved, but device complexity increases due to additional controls
Solution Approach 1:
The repositioning control is segmented into discrete adjustable positions rather than continuous active control. The mechanism provides multiple predetermined positions that can be selected as needed, delivering sufficient positioning precision for surgical procedures while avoiding the complexity of fully active continuous adjustment systems
3Adaptability or versatility
If multiple joints are added to enable movement in multiple planes, then adaptability is improved, but device complexity increases
Solution Approach 1:
The first and second joints are nested within the same instrument shaft, with the first joint positioned proximally and the second joint positioned distally. This nested configuration enables multi-planar movement capability (adaptability) while consolidating the joint structures within a compact framework, thereby limiting the increase in overall device complexity
Data Source
AI summary
A medical instrument comprising: (A) a first joint comprising a first member and a second member, the first member configured to be repositionable with respect to the second member in an X-Y plane; (B) a second joint operatively coupled to the first joint, the second joint comprising a third member and a fourth member, the third member configured to be repositionable with respect to the fourth member in a Y-Z plane perpendicular to the X-Y plane; and, (C) a controller operatively coupled to the first joint and the second joint, the controller including a first control configured to direct repositioning of at least one of the first member and the second member, and a second control configured to direct repositioning of at least one of the third member and the fourth member.