Translatable Spool for Medical Instrument Pull Wire Management
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Solution Overview
Problem
Current medical instruments with roll capabilities in endoscopic procedures face issues of increased friction and unwieldy design due to pull-wire management, leading to compromised articulation and ergonomics, particularly in robotic systems where separate modules for articulation and roll complicate pre-operative workflows and cause operator discomfort.
Innovation Solution
A medical instrument with a rotatable spool and elongate shaft that coordinates the angle of the pull wire relative to the shaft, using internal structures like parallel articulation shafts and angled idlers to maintain a consistent helical pitch and angle, reducing friction and allowing for simultaneous articulation and roll without compromising control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If roll capabilities are implemented in current elongated medical devices by twisting actuation pull wires around each other, then the device can achieve shaft rotation, but friction increases and pull wire management becomes mechanically limited
Solution Approach 1:
The device separates roll actuation from articulation actuation by providing dedicated pull wires for each function. Roll pull wires are routed through a roll mechanism independent of articulation pull wires, eliminating the twisting and friction that occurs when single pull wires must perform both functions.
Solution Approach 2:
A spool mechanism acts as an intermediary between the roll pull wires and the shaft, enabling smooth roll rotation by winding and unwinding the pull wires without creating friction between multiple wires twisted around each other.
2Ease of operation
If separate modules are used for articulation and roll control, then each function can be independently controlled, but device complexity increases and pre-operative workflow is complicated
Solution Approach 1:
The device merges articulation and roll control into a single integrated module at the proximal end of the shaft. Both articulation pull wires and roll pull wires are routed through this single module, allowing independent control of both functions while maintaining a compact, unified structure that simplifies pre-operative workflow.
3Adaptability or versatility
If the entire proximal end of the tool is twisted to achieve shaft rotation, then roll is accomplished, but operator ergonomics deteriorate and uncomfortable positions are required
Solution Approach 1:
The device segments the rotation control function from the operator's hands by providing a dedicated roll control mechanism at the proximal end. This allows the operator to control shaft rotation independently without needing to twist the entire proximal end or contort their body into uncomfortable positions.
Data Source
AI summary
Medical instruments having a translatable spool are disclosed. In one aspect, a medical instrument configured for use with a robotic system includes an instrument base configured to couple to a robotic drive mechanism of the robotic system and an elongate shaft coupled to the instrument base. The elongate shaft has a distal end. The medical instrument also includes a pull wire fixedly coupled to the distal end of the elongate shaft, the pull wire being configured to actuate the elongate shaft, and a rotatable spool in the instrument base. The rotatable spool is configured to direct the pull wire to the elongate shaft at an angle. The rotatable spool is configured to translate in coordination with actuation of the elongate shaft to control the angle of the pull wire relative to the elongate shaft.