Surgical Tool Translating Gears for Articulation and Rotation
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Solution Overview
Problem
Conventional robotic surgical tools require multiple drive inputs to articulate a joint and rotate a shaft, leading to a larger footprint and inconsistent performance, which can hinder precise surgical maneuvers.
Innovation Solution
A surgical tool design utilizing only two drive inputs to articulate an articulable joint and rotate a shaft through a system of translating gears and drive members, where opposite angular rotations of drive gears move the members axially and same-direction rotations rotate the shaft, reducing the number of required inputs and enhancing articulation force.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple drive inputs are used to articulate a joint and rotate a shaft, then the surgical tool can achieve desired articulation and rotation, but the footprint within the drive housing increases and performance consistency deteriorates
Solution Approach 1:
The patent combines multiple drive functions into a single drive input by using translating gears that convert rotational motion into axial motion. The first and second translating gears are operatively coupled to drive members such that rotation of a single drive gear causes both drive members to move axially in opposite directions, thereby articulating the joint and rotating the shaft simultaneously.
Solution Approach 2:
The translating gear mechanism serves multiple functions: it converts rotational motion to axial motion, provides mechanical advantage for articulation force, and enables coordinated movement of multiple drive members from a single drive input, thereby reducing the overall number of drive inputs required while maintaining full articulation capability.
2Adaptability or versatility
If multiple drive inputs are used to articulate a joint and rotate a shaft, then the surgical tool can achieve desired articulation and rotation, but the number of parts increases and performance consistency deteriorates
Solution Approach 1:
The patent merges multiple drive inputs into a single drive input by using translating gears that convert rotational motion into axial motion. The first and second translating gears are operatively coupled to drive members such that rotation of a single drive gear causes both drive members to move axially in opposite directions, thereby articulating the joint and rotating the shaft simultaneously.
Solution Approach 2:
The translating gears act as intermediary mechanisms between the single drive input and the multiple drive members. These gears convert the rotational motion of the drive gear into axial motion of the drive members, providing a mechanical interface that reduces the number of required drive inputs while maintaining full articulation capability.
3Force
If conventional drive systems are used, then the drive housing can accommodate the necessary components, but articulation force is insufficient and precision deteriorates
Solution Approach 1:
The patent changes the motion parameter from pure rotation to axial translation by using translating gears. This parameter change allows the drive members to move linearly along the shaft axis, providing better mechanical advantage and increased articulation force while improving the precision and consistency of surgical tool movements through the gear-driven translation mechanism.
Solution Approach 2:
The patent replaces conventional direct rotational drive mechanisms with a translating gear system that converts rotational motion into axial motion. This substitution provides mechanical advantage through the gear mechanism, increasing articulation force while improving precision through the controlled translation of drive members along the shaft.
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 design reduces the part count, allowing for more efficient use of drive inputs and increasing articulation force, thereby improving the precision and consistency of surgical tool movements.
Implementation Method 1
first and second translating gears may be rotationally fixed to the shaft within the drive housing and operatively coupled to the first and second drive members, respectively, such that axial movement of the translating gears correspondingly moves the associated drive member
Data Source
AI summary
A surgical tool includes a drive housing having a shaft extending distally therefrom, first and second drive members extending distally from the drive housing along the shaft, and first and second translating gears rotationally fixed to the shaft within the drive housing and operatively coupled to the first and second drive members, respectively. First and second drive gears are rotatably mounted within the drive housing to act on the first and second translating gears, respectively. Rotating the first and second drive gears in opposite angular directions causes the first and second translating gears to move axially along the shaft in opposing directions and thereby move the first and second drive members. Rotating the first and second drive gears in a same angular direction causes the first and second translating gears to rotate the shaft about a longitudinal axis.