Surgical instrument with increased actuation force
A surgical instrument with improved end-effector gripping force. The instrument comprises a shaft, which may be inserted into a body of a patient. The articulated end-effector is mounted on the distal extremity of the instrument shaft and comprises a plurality of links interconnected by a plurality of joints, whose movements are remotely actuated by the surgeon's hands. This remote actuation is accomplished through mechanical transmission, mainly along flexible elements, which are able to deliver motion from a set of actuation elements, placed at a proximal extremity of the shaft, to the instrument's articulated end-effector. The articulated end-effector further comprises one or more cam-and-follower mechanisms that are able to amplify the force transmitted by the flexible elements so that the actuation force at the instrument jaws is maximized and the tension on the transmission elements minimized, thus increasing the fatigue resistance and life of the instrument.
1. An articulated surgical instrument comprising:
a proximal extremity;
a longitudinal instrument shaft;
a distal end-effector comprising one or more links and joints;
flexible mechanical transmissions connecting the proximal extremity and the distal end-effector and passing through the instrument shaft; and
a cam-and-follower operably connected to the distal end-effector, the cam-and-follower comprising a cam and a follower geometry rotatably connected to the cam, the cam comprising a spiral profile, and the follower geometry fixed to the distal end-effector,
wherein the cam-and-follower increases an actuation force achieved at the distal end-effector while reducing tension on the flexible mechanical transmissions.
2. The articulated surgical instrument of claim 1 , wherein rotation of the cam by the flexible mechanical transmissions is configured to drive movement of the follower geometry.
3. The articulated surgical instrument of claim 1 , wherein the flexible mechanical transmissions are cables.
4. The articulated surgical instrument of claim 1 , wherein the flexible mechanical transmissions are metal ropes.
5. The articulated surgical instrument of claim 4 , wherein the metal ropes are constructed of tungsten.
6. The articulated surgical instrument of claim 1 , wherein variances in any of spiral pitch, initial spiral radius and spiral angle influence a degree of increased actuation force at the distal end effector.
7. The articulated surgical instrument of claim 1 , wherein the one or more links and joints provide at least 2 orientational degrees of freedom and at least one actuation degree of freedom.
8. The articulated surgical instrument of claim 7 , wherein the at least 2 orientational degrees of freedom provide for rotations of at least 90 degrees around end effector joints and wherein the rotations are perpendicular to each other.
9. The articulated surgical instrument of claim 1 , wherein the follower geometry is in contact with the spiral profile geometry of the cam.
10. The articulated surgical instrument of claim 2 , wherein rotation of the cam by the flexible mechanical transmissions is configured to drive movement of the follower geometry with a force higher than the tension on the flexible mechanical transmissions driving the rotation.
11. The articulated surgical instrument of claim 1 , wherein the cam-and-follower increases fatigue performance of the articulated surgical instrument.
12. The articulated surgical instrument of claim 1 , wherein the cam-and-follower increases usage cycles of the articulated surgical instrument.
13. The articulated surgical instrument of claim 1 , wherein the cam-and-follower decreases overall friction of the articulated surgical instrument.
14. A method of actuating an end-effector of an articulated surgical instrument, the method comprising:
actuating flexible mechanical transmissions to rotate a cam comprising a spiral profile of the articulated surgical instrument, the cam in rotatable contact with a follower geometry fixed to the end-effector to thereby drive movement of the follower geometry and actuate the end-effector,
wherein the cam and follower geometry increases an actuation force achieved at the end-effector while reducing tension on the flexible mechanical transmissions.
15. The method of claim 14 , wherein actuating the flexible mechanical transmissions to rotate the cam drives movement of the follower geometry with a force higher than the tension on the flexible mechanical transmissions driving the rotation.
16. The method of claim 14 , wherein actuating the flexible mechanical transmissions to rotate the cam to thereby drive movement of the follower geometry actuates the end-effector in at least 2 orientational degrees of freedom and at least one actuation degree of freedom.
17. The method of claim 14 , wherein the flexible mechanical transmissions comprise at least one of cables or metal ropes.
18. The method of claim 14 , further comprising varying any of spiral pitch, initial spiral radius and spiral angle to influence a degree of increased actuation force at the end-effector.