Surgical Wrist Adapter for Rotary-to-Linear End Effector Actuation
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Solution Overview
Problem
Existing end effectors driven by linear force are not compatible with surgical devices that use rotary motion, necessitating an adapter to interface between linear and rotary driven systems for effective power delivery in surgical procedures.
Innovation Solution
A surgical device adapter with a proximal, middle, and distal joint housing, along with articulation links and a drive mechanism featuring gears, allowing for pivoting and actuation of end effectors to be compatible with both linear and rotary driven surgical devices, enabling effective power transmission.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If linear driven end effectors are used, then compatibility with existing surgical devices is maintained, but compatibility with rotary driven surgical devices is lost
Solution Approach 1:
The adapter assembly acts as an intermediary device between the rotary driven surgical device and the linear driven end effector. It includes a proximal interface that couples to the rotary surgical device and a distal interface that couples to the linear end effector, with intermediate articulation links and drive shafts that convert rotary motion to linear motion, thereby enabling compatibility without modifying the original components
Solution Approach 2:
The adapter assembly is divided into multiple functional segments: a proximal joint housing with articulation links, a drive mechanism with transmission shafts and gears, and a distal joint housing with the end effector interface. This segmentation allows each component to perform its specific function (motion conversion, transmission, actuation) while working together as an integrated system
2Adaptability or versatility
If adapters with multiple articulation links and geared surfaces are used, then compatibility between linear and rotary systems is achieved, but device complexity increases
Solution Approach 1:
The adapter assembly merges multiple functions into a single integrated structure: the proximal and distal joint housings are connected through articulation links that also serve as mounting structures for the drive mechanism. The transmission shafts with gears are integrated within the housing structure, combining motion conversion and transmission functions in unified components rather than separate assemblies
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
Enables the compatibility of linear driven end effectors with rotary driven surgical devices, facilitating versatile and efficient power delivery for various surgical procedures, such as stapling and cutting, by using a system of pivotable joint housings and a gear-based drive mechanism.
Implementation Method 1
the middle joint housing pivotally coupled at the proximal end thereof to the distal end of the proximal joint housing, the middle joint housing pivotable about a first pivot axis defined between the proximal joint housing and the middle joint housing
Implementation Method 2
the distal join housing pivotally coupled at the proximal end thereof to the distal end of the middle joint housing, the distal joint housing coupleable at the distal end thereof to the end effector and pivotable about a second pivot axis defined between the middle joint housing and the distal joint housing, the second pivot axis being transverse to the first pivot axis
Implementation Method 3
a drive mechanism configured to actuate the end effector in response to input from the surgical device
Data Source
Figure 1A
Figure 1B
Figure 2
AI summary
A robotic surgical apparatus (20), comprising: a robotic arm (22); an adapter assembly (200); and an end effector (300), the adapter having a proximal joint housing (206) pivotally attached to a middle joint housing (204), the middle joint housing being pivotally attached to a distal joint housing (202), the end effector further having a first lever (224) connecting the proximal joint housing to the middle joint housing and at least one second lever connecting the middle joint housing to the distal joint housing, the middle joint housing and the proximal joint housing having a geared surface (209, 211); and a first articulation link (220) movable in a proximal direction to pivot the distal joint housing.