Surgical Instrument Wobble Steering Ring Control Mechanism
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Solution Overview
Problem
Existing surgical instruments with spatially adjustable wobble steering rings have complex structures and indirect control mechanisms, which complicate precise and efficient control of tool tips, especially when integrated with robotic arms.
Innovation Solution
A steering gear with a wobble steering ring that is directly motorized and coupled to three drives, allowing spatial alignment and rotation, enabling a compact, linear force transmission and precise control of the tool tip without additional diversion mechanisms or gear transmissions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a complex gear transmission mechanism with multiple bevel gears and steering rings is used to control the tool tip, then the control precision and spatial adjustability are improved, but the device complexity and structural compactness deteriorate
Solution Approach 1:
The patent extracts and eliminates the complex intermediate transmission components (multiple bevel gears, steering rings, and cable routing mechanisms) from the system. The drive unit is directly coupled to the wobble plate via a simplified transmission element, removing unnecessary mechanical complexity while preserving the essential control function of spatially adjusting the tool tip position.
Solution Approach 2:
Instead of using multiple intermediate transmission stages to achieve spatial adjustment, the patent inverts the approach by directly coupling the drive unit to the wobble plate. The spatial adjustability is achieved through the direct action of the drive on the wobble plate, eliminating the need for complex intermediate mechanisms while maintaining control precision.
2Force
If multiple thin steering wires are used to distribute force uniformly in all deflection directions, then the force distribution is improved, but the device complexity and number of components increase
Solution Approach 1:
The patent merges the functions of multiple steering wires into a single integrated transmission element that connects the drive unit directly to the wobble plate. This single element provides uniform force distribution in all deflection directions, eliminating the need for multiple separate steering wires while reducing component complexity.
Solution Approach 2:
The transmission element serves multiple functions simultaneously: it transmits force from the drive unit to the wobble plate, provides spatial adjustability, and ensures uniform force distribution in all deflection directions. This multi-functional element replaces what would otherwise require multiple separate components.
3Adaptability or versatility
If drives are arranged in the robot arm with indirect control through clutch disks, then the integration with robotic arms is improved, but the control directness and responsiveness deteriorate
Solution Approach 1:
The patent segments the control system into a self-contained drive unit that can be independently integrated with robotic arms. The drive unit with direct coupling to the wobble plate maintains control directness and responsiveness, while the modular design allows versatile integration with different robotic arm configurations through standard interfaces.
Data Source
AI summary
A control mechanism for a surgical instrument including a shaft, and an angling mechanism for actuating a tool. The control mechanism has a shaft element which forms an extension of the shaft when the control mechanism and the surgical instrument are assembled. The control mechanism includes a control ring, operatively coupled to the angling mechanism and has a central-axial through-opening for a bearing device which can be rotated about the longitudinal axis together with the shaft element. Three motorised drives are operatively coupled to the control ring to transmit the adjustment angle of the three drives to the control ring, wherein the control ring can be aligned to one another and to the longitudinal axis, via the adjustment angle of two of the three drives, and can be rotated about the longitudinal axis via the adjustment angle of the third of the three drives.