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