Variable Jaw Closure via Barrel Cam in Robotic Surgical Systems
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Solution Overview
Problem
Current surgical instruments lack advanced articulation mechanisms that enable precise and efficient tissue manipulation during robotic surgeries, particularly in procedures requiring stapling and cutting, which can lead to reduced dexterity and increased operational complexity for surgeons.
Innovation Solution
The development of a surgical instrument with an articulable wrist and end effector that incorporates a barrel cam mechanism, allowing for precise articulation and jaw movement between open and closed positions, facilitated by a drive housing with lead screws and splines, enabling efficient stapling and cutting functions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a robotic surgical system uses conventional surgical instruments without advanced articulation mechanisms, then the device complexity is reduced, but the surgical precision and tissue manipulation capability deteriorate
Solution Approach 1:
The articulation mechanism is nested within the drive housing structure, with the barrel cam mechanism integrated into the existing surgical instrument architecture. The lead screws and splines are incorporated within the drive housing, creating a compact nested arrangement that provides articulation functionality without proportionally increasing external complexity
Solution Approach 2:
The barrel cam mechanism serves as an intermediary element that converts rotational motion from the lead screws into the desired jaw articulation and closure movements. This intermediary mechanism enables precise tissue manipulation by mediating between the drive inputs and the end effector actions
2Productivity
If the jaw closure mechanism is simplified, then the device complexity is reduced, but the productivity of stapling and cutting operations deteriorates
Solution Approach 1:
The barrel cam mechanism is designed to provide continuous and smooth jaw closure motion throughout the stapling and cutting cycle. The cam profile ensures uninterrupted useful action from jaw closure through tissue compression to staple deployment, eliminating idle periods and maintaining productive motion throughout the entire surgical cycle
Solution Approach 2:
The lead screws and splines perform preliminary articulation and positioning actions before the main jaw closure event. The barrel cam mechanism pre-positions the jaw elements and establishes the closure path in advance, enabling faster and more efficient stapling and cutting operations by preparing the system state beforehand
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
Enhances surgical precision and efficiency by providing a robust articulation system that reduces the complexity of tissue manipulation, allowing for faster and more precise stapling and cutting operations during robotic surgeries.
Implementation Method 1
drive housing with lead screws and splines
Data Source
AI summary
A surgical instrument includes a drive housing, a spline, a carriage, an elongate shaft assembly, an end effector, and an activating mechanism. The at least one spline includes a drive gear rotatable with the spline. The elongate shaft assembly extends from the carriage. The activating mechanism includes a barrel cam extending along a rotational axis and having a first cam profile radially extending about the rotational axis. The barrel cam is operatively coupled to the drive gear such that rotation of the drive gear is configured to actuate the activating mechanism to move at least a portion of the end effector. The first cam profile defines a plurality of slopes relative to the rotational axis such that the first cam profile is configured to drive movement of the end effector or the elongate shaft assembly at different rates according to the plurality of slopes.