Wrist Assembly Torque and Articulation Mechanism
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Solution Overview
Problem
Existing articulating laparoscopic surgical instruments face challenges in providing independent control over end effector operation, rotation, and articulation, are often disposable due to design limitations, and are costly, which hinders their use in minimally invasive single incision laparoscopic procedures.
Innovation Solution
A wrist assembly with a torque mechanism and articulation mechanism that includes links and cable segments, allowing for independent operation of the end effector, rotation, and spatial articulation, while maintaining a low profile and enabling reuse through a cleaning mode.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If articulating laparoscopic surgical instruments are designed with multiple control features (end effector operation, rotation, articulation), then the ability to perform single incision laparoscopic procedures is improved, but the device complexity and cost increase dramatically
Solution Approach 1:
The patent combines the torque mechanism and articulation mechanism into a single integrated wrist assembly. The torque links and articulation members share common mounting structures and cable segment connections, merging multiple control functions into one compact unit that provides independent control over end effector rotation and articulation while reducing overall device complexity
Solution Approach 2:
The wrist assembly serves multiple functions simultaneously: it provides torque transmission for end effector rotation, articulation control for shaft bending, and structural support for the deflection section. The torque links and articulation members are designed to work together in a unified mechanism that accomplishes multiple control tasks within a single assembly
2Measurement precision
If articulating laparoscopic surgical instruments are designed with independent control mechanisms, then the precision of end effector positioning is improved, but the device becomes disposable due to design limitations
Solution Approach 1:
The wrist assembly is divided into separable components including torque links, articulation members, and cable segment connections that can be disassembled for cleaning and sterilization. This segmented design allows the precision control mechanisms to be maintained while enabling the assembly to withstand repeated sterilization cycles for reusable application
3Measurement precision
If the wrist assembly provides independent torque transmission through bent sections, then the control precision is improved, but the structural complexity increases
Solution Approach 1:
The torque links are nested within the articulation members, with torque links positioned inside the hollow structure of articulation members. This nested arrangement allows torque transmission through bent sections while maintaining a compact structure that does not significantly increase the overall assembly size or structural complexity
Data Source
AI summary
An articulating laparoscopic instrument including a handle, an outer shaft, an end effector, and a wrist assembly. The wrist assembly connects the end effector to the shaft and includes torque and articulation mechanisms. The torque mechanism includes a plurality of links disposed over the rod and connected with one another in a pivotable yet rotationally locked fashion. The articulation mechanism includes a plurality of articulation member disposed over the rod to collectively define a deflection section. The links freely rotate relative to the articulation members, with the rod and links collectively bending in response to a change in shape of the deflection section.