Swash Plate Steering Gear for Linear Surgical Tip Control
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Solution Overview
Problem
Existing surgical instruments with steering gears have complex structures that result in non-linear transmission behavior and require indirect backlash control, making them difficult to map in software and occupy excessive space.
Innovation Solution
A steering gear with two motorized drives that utilize double wheels with bevel gear rims, arranged in a space-saving manner, allowing for linear transmission and backlash-free movement of a spatially adjustable swash plate, which is coupled to a distal bending mechanism via gear wheels.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a spatially adjustable swash plate is used to control multiple steering wires, then fine control of the tool tip is achieved, but the structure becomes complex and occupies excessive space
Solution Approach 1:
The steering gear is divided into two independent motorized drives, each controlling one steering wire. This segmentation allows simple unidirectional rotation of each drive while achieving complex three-dimensional control of the swash plate through the combination of two drives, reducing overall structural complexity
Solution Approach 2:
A third gear wheel acts as an intermediary element that receives rotation from both first and second drive wheels and transmits it to the swash plate. This intermediary mechanism enables linear transmission behavior and simplifies the control structure by providing a direct connection between the drives and the swash plate
2Volume of moving object
If drives are arranged in the robotic arm rather than in the surgical instrument, then space is saved, but non-linear transmission behavior occurs that is difficult to map in software
Solution Approach 1:
The patent replaces complex mechanical transmission mechanisms with a direct motorized drive system that provides linear transmission behavior. The two motorized drives with bevel gear rims create a straightforward rotational-to-linear conversion, eliminating the need for complex mechanical intermediaries and making the transmission behavior easily mappable in software
Solution Approach 2:
The patent changes the transmission parameters by using two independently controllable motorized drives with bevel gear rims, creating a linear relationship between drive rotation and swash plate movement. This parameter change from traditional mechanical linkages to motorized drive systems enables precise software mapping of the transmission behavior
3Measurement precision
If multiple steering wires are used to achieve even force distribution, then control precision is improved, but the number of components and complexity increases
Solution Approach 1:
The patent extracts and eliminates the need for multiple steering wires by using only two motorized drives. The bevel gear rim mechanism inherently distributes force evenly across the steering wires it engages, allowing the system to achieve precise control with minimal components rather than requiring multiple separate steering wires
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 a structurally simple and compact design that allows for precise, sensitive, and reproducible control of the surgical instrument's tool tip, facilitating easy integration with robotic arms and reducing the need for multiple steering wires.
Implementation Method 1
The first drive has a first drive pinion which can be driven or driven by a first motor via a first drive shaft and which is operatively connected to a first drive wheel rim of a first drive wheel
Implementation Method 2
The first and the second drive wheel are designed as double wheels and each have the corresponding drive wheel rim and a deviation wheel rim. The swash plate is arranged between the two drive wheels, which have a common axis of rotation A
Data Source
AI summary
An exemplary embodiment provides a steering gear (13) for a surgical instrument (1) which has two motorised drives and is designed to spatially align a swash plate (14) via the adjustment angles of the two drives, which is designed to control the distal bending mechanism (9) of the surgical instrument (1). The first drive has a first drive pinion (16) which can be driven by a first motor (17) via a first drive shaft (17a) which defines a first drive axis (C) and which is connected to a first drive wheel rim (19) of a first drive wheel (18) in operative connection. The second drive has a second drive pinion (16′) which can be driven by a second motor (17′) via a second drive shaft (17a′) which defines a second drive axis (C′) and is connected to a second drive wheel rim (19′) of a second drive wheel (18′) in operative connection. The first and the second drive wheel (18, 18′) are designed as double wheels (18, 18′), each of which has the corresponding drive wheel rim (19, 19′) and a deviation wheel rim (15, 15′), wherein between the two drive wheels (18, 18′) which have a common axis of rotation (A), the swash plate (14) is arranged, and the deviation wheel rims (15, 15′) are arranged facing each other on the axis of rotation (A). A surgical instrument (1) with such a steering gear (13) is also disclosed.