Surgical Instrument Spline Shaft and Collar Actuation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current minimally invasive telesurgical systems face challenges in providing precise and dexterous control of surgical instruments, particularly in transmitting torque and motion effectively through small apertures, which can limit the complexity and delicacy of surgical tasks.
Innovation Solution
The development of surgical instrument actuation mechanisms utilizing spline shafts and collars, which allow for the transmission of torque and motion through a combination of rotational and linear movements, enabling precise control of surgical instruments with multiple degrees of freedom, and integration with motors for enhanced dexterity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional surgical instruments are used through small apertures, then minimally invasive surgery is achieved, but control precision and dexterity are limited
Solution Approach 1:
The surgical instrument is divided into multiple segments including a shaft, end effector, and actuation mechanism components. The spline shaft and collar assembly allows segmented transmission of motion and torque, enabling precise control through the constrained aperture by breaking down the control function into manageable mechanical segments
Solution Approach 2:
The actuation mechanism components are nested within the instrument shaft structure. The collar slides along the spline shaft while maintaining compact integration, allowing multiple functional elements to be contained within the limited space of the minimally invasive instrument while preserving control precision
2Adaptability or versatility
If complex actuation mechanisms are added to improve dexterity, then surgical task capability increases, but device complexity increases
Solution Approach 1:
The spline shaft and collar mechanism serves multiple functions simultaneously: it transmits rotational torque, enables axial sliding motion, and provides controlled degrees of freedom to the end effector. This multi-functionality increases surgical task capability without proportionally increasing mechanism complexity
Solution Approach 2:
The collar automatically engages with the spline shaft features to transmit motion and torque without requiring additional complex engagement mechanisms. The geometry of the spline shaft and collar interaction inherently provides the necessary constraints and freedoms, reducing the need for separate control elements
3Power
If torque transmission through small apertures is improved, then surgical instrument effectiveness increases, but mechanism size increases
Solution Approach 1:
The spline shaft features are concentrated at specific locations along the shaft where torque transmission is most needed. The collar engagement features are localized to provide efficient torque transfer without requiring the entire mechanism to be enlarged, maintaining compact overall size while improving torque transmission effectiveness
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
These mechanisms enable precise and complex surgical maneuvers by providing a compact, reliable, and efficient means of transmitting motion and torque, enhancing the dexterity and effectiveness of minimally invasive surgical procedures.
Implementation Method 1
The collar is configured to transmit driving force from the spline shaft to a surgical instrument drive input in response to rotation of the spline shaft
Data Source
AI summary
Systems and methods for computer-assisted systems using robotic technology are described. For example, this disclosure describes systems and methods that can be used in various contexts such as, but not limited to, minimally invasive computer-assisted tele-operated surgery using robotic technology. The disclosure describes instruments and mechanisms for actuating and controlling the motions of such instruments. The instruments and actuator mechanisms may be used in medical operations and non-medical operations.