Devices, systems, and methods for torque amplification in medical systems
A medical device may include a main shaft extending from a proximal end to a distal end; an actuator at a proximal portion of the medical device; an end effector positioned at a distal end of the main shaft and comprising a first jaw and a second jaw; a motor; and a torque amplification system. The torque amplification system may include a driveshaft coupled to the motor; a spring coupled to the driveshaft and configured to expand or contract in a proximal or a distal direction relative to the driveshaft; a hammer moveably coupled to the driveshaft; and an anvil coupled to the end effector and abutting the hammer. The anvil may be configured to provide a rotational power output to the end effector to move the first jaw and/or the second jaw.
1. A torque amplification system configured for use in a medical device, comprising:
a driveshaft coupled to a motor;
a spring coupled to the driveshaft and configured to expand or contract in a proximal or a distal direction relative to the driveshaft;
a hammer moveably coupled to the driveshaft; and
an anvil abutting the hammer and configured to couple to an end effector of the medical device, wherein the anvil is configured to provide a rotational power output to the end effector to move a first jaw and/or a second jaw of the end effector.
2. The torque amplification system of claim 1 , wherein the motor is positioned within a distal portion of the medical device.
3. The torque amplification system of claim 1 , wherein the end effector is an endoscopic stapler, a grasper, forceps, or scissors.
4. The torque amplification system of claim 1 , wherein:
the hammer includes a first flange extending distally from a distal face of hammer;
the anvil includes a second flange extending proximally from a proximal face of the anvil; and
the first flange is configured to engage the second flange to rotate the anvil about a central longitudinal axis of the anvil.
5. The torque amplification system of claim 4 ,
wherein:
the hammer is cylindrical and includes an inner tubular portion;
the inner tubular portion includes a channel extending transverse to a central longitudinal axis of the hammer;
the driveshaft includes a ball bearing coupled to a distal end of the driveshaft; and
the ball bearing is movably positioned within the channel.
6. The torque amplification system of claim 5 , wherein the spring extends circumferentially around a radially-outer surface of the driveshaft and abuts a proximal end of the inner tubular portion.
7. The torque amplification system of claim 6 , further comprising a central, longitudinal lumen extending through the driveshaft, the hammer, the spring, and the anvil.
8. The torque amplification system of claim 1 , wherein each of the hammer and the anvil is cylindrical; and wherein the hammer has a diameter substantially the same as the diameter of the anvil.
9. The torque amplification system of claim 1 , wherein:
the driveshaft includes (i) a recess extending longitudinally through the driveshaft from a distal end of the driveshaft, and (ii) a pair of channels extending proximally from the distal end;
the spring is positioned with the recess; and
the hammer includes (i) a pair of protrusions extending proximally from a proximal face of the hammer, wherein each of the pair of protrusions is configured to be received by each of the pair of channels, respectively; and (ii) a pair of flanges extending distally from a distal end face of hammer.
10. The torque amplification system of claim 9 , wherein the anvil is T-shaped.
11. The torque amplification system of claim 1 , wherein:
the driveshaft includes a first recess;
the hammer includes a second recess and a pair of protrusions extending distally from a distal face of the hammer;
the spring is positioned within the first recess, and a distal end of the spring is fixedly coupled to a proximally-facing surface within the second recess; and
a distal portion of the driveshaft is received within the second recess.
12. The torque amplification system of claim 11 , wherein:
the hammer includes a first channel within the second recess;
the driveshaft includes a second channel in a radially-outward surface, relative to a central longitudinal axis, of the driveshaft; and
a ball bearing is positioned between the first channel and the second channel.
13. The torque amplification system of claim 11 , wherein the spring is conical.
14. The torque amplification system of claim 1 , further comprising a ratchet mechanism coupled to the driveshaft.
15. A torque amplification system configured for use in a medical device, comprising:
a spring coupled to a driveshaft and configured to expand or contract in a proximal direction or a distal direction relative to the driveshaft;
a hammer moveably coupled to the driveshaft;
an anvil coupled to an output shaft and abutting the hammer, wherein the anvil is configured to provide a rotational power output to the output shaft; and
a lumen extending along a central longitudinal axis of the torque amplification system, wherein the lumen extends through the driveshaft, the spring, the hammer, and the anvil;
wherein the output shaft is coupled to an end effector.
16. The torque amplification system of claim 15 , further comprising a driveshaft coupled to a motor.
17. The torque amplification system of claim 15 ,
wherein:
the hammer is cylindrical and includes an inner tubular portion;
the inner tubular portion includes a channel extending transverse to a central longitudinal axis of the hammer;
a ball bearing is coupled to a distal end of the driveshaft;
the ball bearing is movably positioned within the channel; and
the spring extends circumferentially around a radially-outer surface of the driveshaft and abuts a proximal end of the inner tubular portion.
18. The torque amplification system of claim 16 , wherein:
the driveshaft includes (i) a recess extending longitudinally through the driveshaft from a distal end of the driveshaft, and (ii) a pair of channels extending proximally from the distal end of the driveshaft;
the spring is positioned with the recess; and
the hammer includes (i) a pair of protrusions extending proximally from a proximal face of the hammer, wherein each of the pair of protrusions is configured to be received by each of the pair of channels, respectively; and (ii) a pair of flanges extending distally from a distal end face of hammer.
19. The torque amplification system of claim 15 , wherein:
the driveshaft includes a first recess;
the hammer includes a second recess, a pair of protrusions extending distally from a distal face of hammer, and a first channel within the second recess;
the spring is positioned within the first recess and a distal end of the spring is fixedly coupled to a proximally-facing surface within the second recess;
a distal portion of the driveshaft is received within the second recess;
the driveshaft includes a second channel in a radially-outward surface, relative to a central longitudinal axis, of the driveshaft; and
a ball bearing is movably positioned between the first channel and the second channel.
20. A torque amplification system configured for use in a medical device, comprising:
a driveshaft coupled to a motor;
a spring coupled to the driveshaft and configured to move relative to the driveshaft;
a hammer moveably coupled to the driveshaft; and
an anvil coupled to an end effector of the medical device and abutting the hammer, wherein the anvil is configured to provide a rotational power output to the end effector.