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:
an end-effector comprising one or more end-effector links, the one or more end-effector links comprising one or more follower geometries;
a cam comprising one or more spiral profiles rotatably coupled to the one or more follower geometries; and
flexible mechanical transmissions coupled to the cam, the flexible mechanical transmissions configured to rotate the cam to thereby actuate the end-effector with an increased actuation force and with a reduced tension on the flexible mechanical transmissions via the one or more follower geometries.
2. The articulated surgical instrument of claim 1 , further comprising a longitudinal instrument shaft having a lumen configured to receive the flexible mechanical transmissions.
3. The articulated surgical instrument of claim 2 , further comprising a proximal extremity, and wherein the flexible mechanical transmissions are configured to transmit motion from the proximal extremity to the end-effector through the lumen of the longitudinal instrument shaft.
4. The articulated surgical instrument of claim 1 , wherein a first end-effector link of the one or more end-effector links is rotatably coupled to a second end-effector link of the one or more end-effector links via an end-effector joint.
5. The articulated surgical instrument of claim 4 , wherein the end-effector joint is positioned distal to the one or more follower geometries and the cam.
6. The articulated surgical instrument of claim 1 , wherein the increased actuation force at the end-effector is higher than the reduced tension on the flexible mechanical transmissions.
7. The articulated surgical instrument of claim 1 , wherein rotation of the cam by the flexible mechanical transmissions is configured to increase fatigue performance of the articulated surgical instrument.
8. The articulated surgical instrument of claim 1 , wherein rotation of the cam by the flexible mechanical transmissions is configured to increase usage cycles of the articulated surgical instrument.
9. The articulated surgical instrument of claim 1 , wherein rotation of the cam by the flexible mechanical transmissions is configured to decrease overall friction of the articulated surgical instrument.
10. The articulated surgical instrument of claim 1 , wherein rotation of the cam by the flexible mechanical transmissions is configured to drive movement of the one or more follower geometries along the one or more spiral profiles of the cam.
11. The articulated surgical instrument of claim 1 , wherein the flexible mechanical transmissions comprise at least one of cables or metal ropes.
12. The articulated surgical instrument of claim 1 , wherein variances in any of spiral pitch, initial spiral radius and spiral angle of the one or more spiral profiles influence a degree of the increased actuation force at the end-effector.
13. The articulated surgical instrument of claim 1 , wherein the one or more end-effector links provide at least 2 orientational degrees of freedom and at least one actuation degree of freedom.
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 one or more spiral profiles rotatably coupled to one or more follower geometries of one or more end-effector links of the end-effector to thereby drive movement of the one or more follower geometries along the one or more spiral profiles of the cam and actuate the end-effector with an increased actuation force and with a reduced tension on the flexible mechanical transmissions via the one or more follower geometries.
15. The method of claim 14 , wherein the increased actuation force is higher than the reduced tension on the flexible mechanical transmissions.
16. The method of claim 14 , wherein actuating the flexible mechanical transmissions to rotate the cam increases fatigue performance of the articulated surgical instrument.
17. The method of claim 14 , wherein actuating the flexible mechanical transmissions to rotate the cam actuates the end-effector in at least one of two or more orientational degrees of freedom or one or more actuation degrees of freedom.
18. The method of claim 14 , further comprising varying any of spiral pitch, initial spiral radius and spiral angle of the one or more spiral profiles to influence a degree of increased actuation force at the end-effector.