Tendon Driver Module With Slider Actuation and Backlash Control
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Solution Overview
Problem
Existing surgical instruments face issues with complex and expensive driver modules that require multiple parts for precise tendon actuation, leading to backlash, high manufacturing costs, and sterility concerns due to reuse requirements.
Innovation Solution
A driver module design featuring a slider mechanism with tendon receiving portions, rollers for reduced friction, pre-tensioning actuators, and a barrier system to minimize backlash and maintain sterility, eliminating the need for pulleys and reducing component complexity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If known driver modules use multiple moving parts to actuate tendons with great precision, then actuation precision is improved, but device complexity increases
Solution Approach 1:
The patent combines the actuator and tendon attachment into a single integrated driver module assembly. The actuator is positioned at the distal end of the shaft with direct tendon attachment, eliminating the need for separate pulley systems and multiple intermediate components. This merging maintains precise tendon actuation while significantly reducing the number of moving parts.
2Measurement precision
If known driver modules are manufactured with high precision components, then actuation precision is improved, but manufacturing cost increases
Solution Approach 1:
The patent employs a simplified monolithic driver module design that can be manufactured using standard additive manufacturing (3D printing) techniques. The integrated structure with direct tendon attachment eliminates the need for complex assemblies of precision-machined parts, allowing cost-effective production while maintaining adequate actuation precision for surgical applications.
3Ease of manufacture
If known driver modules are designed for reuse to reduce cost, then cost efficiency is improved, but sterility reliability decreases
Solution Approach 1:
The patent divides the surgical instrument into sterile and non-sterile segments. The driver module with actuator is positioned in the non-sterile proximal region, while the shaft and end effector remain in the sterile distal region. This segmentation allows the expensive motor components to be reused without sterilization, while the sterile portions can be disposed of or sterilized as needed, maintaining both cost efficiency and sterility reliability.
4Ease of operation
If tendons are made flexible to enable movement, then ease of operation is improved, but backlash increases
Solution Approach 1:
The patent implements pre-tensioning of the tendon through the actuator mechanism before surgical use. This preliminary action maintains the tendon in a constantly tensioned state, eliminating slack and preventing backlash while preserving the flexibility needed for smooth tendon movement and articulation control during the surgical procedure.
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
The solution provides efficient tendon actuation with reduced backlash, lowers manufacturing costs, and ensures sterility by minimizing the need for sterilization of expensive motor components, enhancing the reliability and safety of surgical instruments.
Implementation Method 1
rollers for reduced friction
Data Source
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AI summary
A driver module for actuating a tendon, the driver module comprising: a slider comprising a base portion, a tendon receiving portion and a body portion, the tendon receiving portion being spaced apart from the base portion and the body portion extends from the base portion to the tendon receiving portion, the module further comprising a slider receiving portion having a first end and a second end and engageable with the base portion of the slider such that the slider is moveab!y attachable to the slider receiving portion.