Wobble Plate Steering Gear for Linear Surgical Tip Control
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Solution Overview
Problem
Existing surgical instruments face challenges with complex structures and indirect control mechanisms that result in nonlinear transmission behavior and limited sensitivity in adjusting the tool tip, especially when integrated with robotic arms.
Innovation Solution
A steering gear with a spatially adjustable wobble plate driven by two motorized drives, utilizing a combination of gear wheels and bevel gears to achieve a linear transmission behavior and a compact structure, allowing precise control of the tool tip through multiple thin steering wires.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a robotic arm with drives is used to control the surgical instrument, then automation is improved, but device complexity increases and transmission behavior becomes nonlinear
Solution Approach 1:
The patent extracts the drive mechanism from the robotic arm and relocates it directly into the surgical instrument's steering gear. This eliminates the complex interface and nonlinear transmission behavior associated with external robotic arm drives, while maintaining full automation through integrated motorized control of the wobble plate.
Solution Approach 2:
The patent introduces a wobble plate as an intermediary component that directly couples the motorized drives to the steering wires. This intermediary enables precise automated control with linear transmission behavior, avoiding the play and nonlinear characteristics of previous robotic arm interfaces.
2Ease of operation
If a spatially adjustable wobble plate is used to control multiple steering wires, then ease of operation is improved, but device complexity increases
Solution Approach 1:
The patent merges multiple steering wire controls into a single spatially adjustable wobble plate. By coupling all steering wires to one plate, the system achieves delicate tool control with uniform force distribution while simplifying the overall structure compared to having separate mechanisms for each wire.
3Adaptability or versatility
If drives are arranged in the robotic arm with coupling plates, then adaptability is improved, but transmission precision deteriorates due to play and nonlinear behavior
Solution Approach 1:
The patent removes the coupling plates and drives from the robotic arm, extracting the source of play and nonlinear transmission behavior. The drives are relocated directly into the surgical instrument, eliminating the problematic interface while maintaining adaptability through direct integration.
Solution Approach 2:
The patent replaces the mechanical coupling plate interface with a direct motorized drive system integrated into the steering gear. This substitution eliminates play and nonlinear transmission characteristics, achieving precise and reproducible adjustment of the distal-side pivot members.
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 a structurally simple and space-saving design that enables sensitive, precise, and reproducible control of the surgical instrument's tool tip, facilitating easy integration with robotic arms and ensuring uniform force distribution without play.
Implementation Method 1
a first motor (17) which drives a drive pinion (17a) via a drive shaft (17b), said drive pinion (17a) meshing with a lateral toothing (16b) of a first gear rack (16)
Implementation Method 2
driving a first transmission pinion (19) of a first double gear wheel (18) made of the transmission pinion (19) and a bevel gear rim (15) via an end toothing (16a) of the gear rack (16)
Implementation Method 3
a first transmission pinion (19) of a first double gear wheel (18) made of the transmission pinion (19) and a bevel gear rim (15)
Data Source
AI summary
A steering gear for a surgical instrument includes two motorized drives designed to spatially align a wobble plate via the adjustment angle of the two drives, which is designed to control a distal angling mechanism of the surgical instrument. A first of the two drives has a first motor, which drives a drive pinion via a driveshaft, which engages with a lateral toothing of a first toothed rack, driving a first transmission pinion of a first double gear. A second of the two drives has a second motor driving a drive pinion via a driveshaft, which engages with a lateral toothing of a second toothed rack and drives a second transmission pinion of a second double gear wheel. The wobble plate is arranged between the two bevel gear rims, which are facing one another and lie on a common axis.