Insertion system for the assisted insertion of components

Abstract

A comprehensive deployment system: an insertion device (100) comprising a body (102) defining a longitudinal axis, wherein the body (102) comprises a wall (110) with an outer surface (112) and an inner surface (114), defining a cylindrical opening (116) through the body (102), wherein the body (102) has a first section (104) and a second section (106) formed by separating the body (102) along the longitudinal axis; an effector (170) configured to form an interface with the insertion device (100), the effector (170) comprising an effector body (172), a first mechanism coupled to the effector body (172) and coupled to the first section (104) of the insertion device (100), and a second mechanism coupled to the effector body (172) and coupled to the second section (106) of the insertion device (100); and an insertion mechanism (200, 300, 400) coupled to the effector body (172); wherein the insertion mechanism (200, 300, 400) is configured to allow the application of an insertion force at a position offset from the insertion device (200, 300, 400).

Description

[0001] The present description refers generally to systems and devices that provide the human operator with gripping and force assistance for inserting components for manufacturing applications.

[0002] Of the components installed in a vehicle, some require the application of significant force. In many scenarios, the installation locations are far from the operator. In some applications, the component may be difficult to grip. In other applications, the component may be far from the operator, affecting the operator's posture, relative position, and the torque applied to properly apply the installation force.

[0003] JP H01-92036A describes a smooth and automatic pressing process for a soft tube using an auxiliary chuck and an air nozzle. Centering between the tube and an insertion shaft is ensured. A tube is held by a chuck and an auxiliary chuck, with the chuck and auxiliary chuck being moved in the insertion direction. The auxiliary chuck opens when the pressing process begins. At this point, air is supplied from an air nozzle, and the tube is pressed in to a sufficiently deep position during the air supply, at which point the process is complete. This ensures proper centering between the tube and the insertion shaft by the auxiliary chuck, and an air gap is created between the tube and the insertion shaft, allowing the tube to be pressed in smoothly and without bending.

[0004] CN 000106625552 A describes a device for assisting assembly tasks with a large stroke, comprising a base mechanism and a compliant end effector. The articulated base mechanism provides one or more passive degrees of freedom. The end effector is connected to the base mechanism and has one or more active or passive degrees of freedom, which together are configured to respond to contact forces with the assisting device during the execution of the fine-motor assembly task. The weight of the end effector is supported by the base mechanism. The end effector can optionally be configured as a passive device that creates a remote center of compliance or as a robotic mechanism. A mechanism can actively or passively amplify a force applied by the operator. A sensor can detect a signal indicating successful task completion, such as an acoustic, visual, or audio sensor.

[0005] Embodiments according to the present description offer a number of advantages. For example, embodiments according to the present description enable improved operator ergonomics for performing assembly operations that would normally require a reach, changes in posture, or force exceeding ergonomic limits. In various embodiments, the systems described herein include improved devices for gripping and manipulating a component, such as, without limitation, the end of a hose. In various embodiments, the operator can manipulate the end of the hose from a certain distance. Various embodiments also include active elements that assist in insertion, including dithering and pulses. In various embodiments, feedback, such as force feedback, is provided to the operator to assist in the insertion process.

[0006] According to another embodiment, the third section comprises a first surface adjacent to a second surface, such that the first and second surfaces define a lip extending from the inner surface of the body.

[0007] According to another embodiment, the gripping surface comprises a plurality of threads.

[0008] According to the invention, an insertion system comprises an insertion device with a body defining a longitudinal axis. The body includes a wall with an outer surface and an inner surface defining a cylindrical opening through the body, the body having a first section and a second section formed by dividing the body along the longitudinal axis. The insertion system includes an effector configured to interface with the insertion device, the effector comprising an effector body, a first mechanism coupled to the effector body and to the first section of the insertion device, and a second mechanism coupled to the effector body and to the second section of the insertion device. The insertion system also includes an insertion mechanism coupled to the effector body.The insertion mechanism is configured to apply an insertion force at a position offset from the insertion device.

[0009] According to another embodiment, the insertion system also includes a sensor coupled to the insertion device and a controller in electronic communication with the sensor, wherein the sensor is configured to generate image data of one end of the insertion device during an insertion process.

[0010] According to a further embodiment, the insertion system also includes an actuator that is coupled to the insertion device and is in electronic communication with the control system, wherein the actuator exerts an active impulse force on the insertion device during the insertion process.

[0011] According to another embodiment, the body of the insertion device also comprises a first section, a second section and a third section, which are arranged along a length of the body.

[0012] According to a further embodiment, the first section is positioned at a first end of the body and includes a gripping surface arranged on the inner surface, the second section is positioned adjacent to the first section and the inner surface of the second section defines an extension area, and the third section is positioned at a second end of the body opposite the first end and defines a conical section at the second end of the body.

[0013] According to another embodiment, the insertion mechanism includes a rod so that the force is applied parallel to the longitudinal axis defined by the body of the insertion device.

[0014] According to a further embodiment, the insertion mechanism comprises a stand with a base element and a plurality of support elements coupled to the base element, a vertical support element coupled to the base element and to the support elements, a vertical adjustment element coupled to and parallel to the vertical support element, a collar surrounding the vertical adjustment element, a first horizontal element, a second horizontal element, and a third horizontal element, wherein the first horizontal element is rotatably coupled to the collar at a first end and rotatably coupled to the second horizontal element at a second end.the second horizontal element is rotatably coupled to the third horizontal element, and the third horizontal element is coupled at one end to the effector via a first vertical element and at one end to a handle arrangement.

[0015] According to another embodiment, the insertion mechanism only allows rotation around the vertical support element and limits the moments associated with an insertion force exerted on the insertion mechanism at the handle assembly.

[0016] According to a further embodiment, the insertion mechanism comprises a first horizontal element, a second horizontal element, a vertical support element, a first vertical element and a carriage, wherein the first horizontal element comprises a guide element such that the carriage moves within the guide element, wherein the first horizontal element is rotatably coupled to the vertical support element, the second horizontal element is rotatably coupled to the vertical support element, and the second horizontal element is coupled at a first end via the first vertical element to the effector and at a second end to a handle arrangement.

[0017] According to a further embodiment, the first mechanism comprises a first link and a second link parallel to the first link, and the second mechanism comprises a third link and a fourth link parallel to the third link. The insertion system comprises an insertion mechanism coupled to the effector, a sensor coupled to the insertion device, and a controller in electronic communication with the sensor. The insertion mechanism allows movement in rotational and translational degrees of freedom and enables the application of an insertion force at a position offset from the insertion device, while restricting a rotational degree of freedom corresponding to a moment associated with the insertion force.

[0018] The present description is described in conjunction with the following figures, where identical reference numbers denote identical elements. Fig. Figure 1 is a perspective sectional view of an insertion device. Fig. Figure 2 is a second perspective sectional view of the insertion device of Fig. 1. Fig. Figure 3 is a perspective view of the insertion device, which is arranged in an open two-shell configuration around a hose end. Fig. Figure 4 is a perspective view of an effector assembly for an insertion operation. Fig. Figure 5 is a perspective view of an insertion mechanism. Fig. Figure 6 is a perspective view of a different insertion mechanism. Fig. Figure 7 is a perspective view of the insertion mechanism of Fig. 6 in a second alignment. Fig. Figure 8 is a perspective view of another insertion mechanism.

[0019] The foregoing and other features of the present description will become more fully apparent from the following description and the accompanying claims in conjunction with the accompanying drawings. With the understanding that these drawings represent only some embodiments in accordance with the description, the description will be further refined with additional specificity and detail by using the accompanying drawings. All dimensions indicated in the drawings or elsewhere in this document are for illustrative purposes only.

[0020] Embodiments of the present description are described here. However, it should be understood that the described embodiments are merely examples and that other embodiments may take different and alternative forms. The figures are not necessarily to scale; some features may be exaggerated or reduced in size to show details of certain components. Therefore, specific structural and functional details described here are not to be understood as limiting, but merely as a representative basis to show a person skilled in the art how the present description can be used in various ways.As experts will understand, various features illustrated and described with reference to one of the figures can be combined with features illustrated in one or more other figures to create embodiments not explicitly shown or described. The illustrated feature combinations represent embodiments for typical applications. However, different combinations and modifications of the features, consistent with the teachings of this description, might be desirable for specific applications or implementations.

[0021] Certain terms are used in the following description for reference purposes only and should therefore not be considered restrictive. For example, terms such as "top" and "bottom" refer to directions in the referenced drawings. Terms such as "front," "back," "left," "right," and "side" describe the orientation and / or location of parts of the components or elements within a consistent but arbitrary frame of reference, clarified by referring to the text and the associated drawings describing the components or elements under discussion. Furthermore, terms such as "first," "second," "third," etc., may be used to describe individual components. This terminology may include the words specifically mentioned above, derivatives thereof, and words of similar meaning.

[0022] Auxiliary tools, such as the systems described here, can improve ergonomics in assembly processes. Systems that allow an operator to perform an assembly operation with a component, such as inserting a hose, from a distance and using a pushing force instead of a lateral force, offer improved assembly mechanics. Adding active elements like dithering and pulses can also improve the insertion process. Feedback elements, such as force sensors, can provide information about the applied force to enable more consistent assembly operations.

[0023] A short, handheld tool can be useful when the operator is close to the task, but the component, such as a hose, is not easy to grasp. Additionally, a tool with a larger diameter than the component or with a flange helps to apply the insertion force to the component.

[0024] Fig. Figures 1-3 illustrate an insertion device 100. In various embodiments, the insertion device 100 is used to facilitate assembly processes with components that are difficult to grip and hold, such as hoses, electrical connectors, spark plugs, etc. The in Fig. The insertion device 100 shown in Figures 1-3 is mounted over a connecting end of a hose 150 to facilitate the insertion of the hose 150 during an assembly operation. In various embodiments, the insertion device 100 comprises a body 102 that defines a longitudinal axis A. The body 102 is substantially symmetrical about the longitudinal axis A. The body 102 is divisible into a first half and a second half, such that the first and second halves interact in such a way that the device 100 encloses the end of the hose 150, as shown in Figures 1-3. Fig. 3 shown. In other words, the insertion device 100 is a two-shell construction that can be clamped or mounted on an outer surface 152 of the hose 150.

[0025] The body 102 comprises a wall 110 with an outer surface 112 and an inner surface 114. The inner surface 114 defines a cylindrical opening 116 through the body 102. The cylindrical opening 116 through the body is arranged around the longitudinal axis A of the body 102.

[0026] The body 102 comprises a first section 104, a second section 106 and a third section 108. The first section 104 is separated from the second section 106 by a first edge 105 and the second section 106 is separated from the third section 108 by a second edge 107.

[0027] The first section 104 is located at a first end of the body 102. At least a portion of the inner surface 114 in the first section 104 comprises a gripping surface 109. In some embodiments, the gripping surface 109 forms an interface with the outer surface 152 of the component, such as the hose 150, as shown in Fig. 3 shown. In various embodiments, the gripping surface 109 includes threads or other spaced projections that form a structured inner surface to increase the friction between the insertion device 100 and the outer surface of the component, such as the outer surface 152 of the hose 150.

[0028] The second section 106 is located between the first section 104 and the third section 108. The inner surface 114 within the second section 106 defines a larger cylindrical volume than the cylindrical volume defined by the inner surface 114 of the first section 104. In other words, the inner surface 114 within the second section 106 is located at a greater radius from the longitudinal axis A of the body 102 than the inner surface 114 within the first section 104. The larger cylindrical volume defined by the second section 106 allows the component, such as the hose 150, to expand during the insertion process, thereby minimizing the resistance during insertion.

[0029] The third section 108 is located at a second end of the body 102 opposite the first end. The third section 108 defines a conical section at the front end of the insertion device 100 to align and stabilize the component, such as the hose 150, during the insertion process. A first surface 111 is configured to contact a connector end of the hose 150. The first surface 111 adjoins a second surface 113, which defines a cylinder with a smaller radius than the radius of the cylinder defined by the inner surface 114 on the second section 106. A conical surface 116 adjoins the second surface 113 and extends beyond the end of the component, such as the hose 150, widening outwards as the component is assembled with the insertion device 100 for an insertion operation.The first surface 111 and the second surface 113 define a lip that comes into contact with an end of the component, such as the hose 150, when the body 102 is mounted around the end of the hose 150.

[0030] Fig. Figure 4 shows an effector 170 configured to work in conjunction with the placement device 100. Each body 102 of the placement device 100 is supported by parallelogram mechanisms 175 to hold the component, such as the hose 150, securely. Each parallelogram mechanism 175 comprises a first link 176 and a second link 177. Each of the first and second links 176, 177 has a first end rotatably connected to the body 102 of the placement device 100 and a second end rotatably connected to an arm 178. Each parallelogram mechanism 175 is coupled to a section of the body 102 when the body 102 is separated longitudinally into two parts. Each arm 178 is coupled to an effector body 172, which is configured to interact with and support the component, such as the hose 150.In various embodiments, each parallelogram mechanism 175 is configured to release automatically when the component, such as the hose 150, is inserted into or connected to the desired component at the insertion point. In various embodiments, each parallelogram mechanism 175 is triggered by a mechanical or electrical switch. In various embodiments, each parallelogram mechanism 175 is in electronic communication with a controller, such as a controller 22.

[0031] Although shown as a single unit for illustrative purposes, the controller 22 may additionally contain one or more other controllers, collectively referred to as "controllers." The controller 22 may contain a microprocessor or central processing unit (CPU) or a graphics processing unit (GPU) that communicates with various types of computer-readable storage devices or media. Computer-readable storage devices or media may include volatile and non-volatile memory, such as read-only memory (ROM), random-access memory (RAM), and keep-alive memory (KAM). KAM is persistent or non-volatile memory that can be used to store various operating variables while the CPU is powered off.Computer-readable storage devices or media can be implemented using any number of known storage devices, such as PROMs (programmable read-only memory), EPROMs (electrically erasable PROMs), EEPROMs (electrically erasable PROMs), flash memory, or other electrical, magnetic, optical, or combined storage devices capable of storing data, some of which represent executable instructions.

[0032] In various embodiments, the effector body 172 comprises a counterpart 174. The counterpart 174 is, in various embodiments, a tube that forms an interface to an insertion mechanism, including one of the insertion mechanisms discussed herein, such as, and without limitation, a handle, rod, or post that can be operated remotely by an operator to facilitate the insertion of the component, such as the hose 150, during an assembly operation.

[0033] As in Fig. As shown in Figure 5, the effector 170 is coupled to an insertion mechanism 200. In the illustrated embodiment, the insertion mechanism 200 is a rod 202. The rod 202 is connected to the effector 170 via the counterpart 174. In various embodiments, the rod 202 fits into the counterpart 174 and is attached to the effector 170 by friction and / or any mechanical means, such as one or more fasteners (e.g., bolts, screws, etc.) or via one or more clamps, for example, and without limitation. The rod 202 can be handled or gripped by the operator in various positions along its length. In various embodiments, the rod 202 is a handle that the operator grasps with one or two hands. The rod 202 allows the operator to apply an insertion force to the component, such as...The insertion mechanism 200 facilitates the insertion of the component, such as the hose 150, at an insertion point 135 that would traditionally place the operator in an awkward and non-ergonomic position.

[0034] In various embodiments, such as in Fig. As shown in Figure 5, a sensor 26 is coupled to or in electronic communication with the effector 170. In various embodiments, the sensor 26 includes an imaging sensor, such as a camera, configured to provide an image of the insertion site to enable concealed insertions. Additionally, in various embodiments, an actuator 30 is coupled to the effector 170 and / or the insertion device 100. The actuator 30 provides an active impulse force, such as vibration, to assist the insertion of the component at the insertion site. In various embodiments, the sensor 26 and the actuator 30 are in electronic communication with the controller 22. In various embodiments, the controller 22 is configured to generate a signal, such as a display image, acoustic feedback, or haptic feedback, to the operator during the insertion process.In various embodiments, the control unit 22 also offers a verification of the successful insertion of the component by analyzing the data received from the sensor 26.

[0035] Fig. 6 and Fig. Figure 7 shows an insertion mechanism 300. The insertion mechanism 300 is a freestanding mechanism that uses the effector 170 and the insertion device 100 to allow the operator to perform an insertion assembly operation remotely. The operator can use a two-handed grip to guide the operation remotely by applying a thrust force instead of a lateral force. The insertion mechanism 300 limits the insertion torque while allowing other degrees of freedom, as explained in more detail here. Furthermore, the insertion mechanism 300 supports or counterbalances the weight of the component, such as the hose 150. Fig. 6 and Fig. Figure 7 shows one embodiment; other configurations that restrict the rotational degree of freedom according to a moment associated with an insertion force exerted by the insertion device may also be used to assist the insertion of the component.

[0036] The insertion mechanism 300 comprises a stand 302. In various embodiments, the stand 302 comprises a base element 304 and a plurality of support elements 306, which are coupled to the base element 304 and support a vertical support element 308. The vertical support element 308 comprises at least one vertically extending groove or track 310. The vertically extending groove 310 provides a plurality of attachment points for a first fastening element 314 and a second fastening element 315, which support a vertical adjusting element 312. The first and second fastening elements 314, 315 are adjustably connected to the vertical support element 308, so that the position of the vertical adjusting element 312 is adjustable in the vertical direction. While it is in the Fig. 6 and Fig. Figure 7 shows the stand 302 supported from the ground, but in various embodiments the insertion mechanism 300 is supported by a ceiling or other overhead structure.

[0037] A sliding collar 316 surrounds the vertical adjustment element 312. A first end of a first horizontal element 318 is rotatably connected to the collar 316, so that the first horizontal element 318 can be rotated in a horizontal plane defined by the first horizontal element 318. The first horizontal element 318 is also vertically adjustable via the sliding collar 316, which is coupled to the vertical adjustment element 312.

[0038] A second end of the first horizontal element 318 is coupled to a second horizontal element 320. The second horizontal element 320 extends from the first horizontal element 318 to a rotatable coupling with a third horizontal element 324. The second horizontal element 320 is coupled at one end to the second end of the first horizontal element 318 and at the other end to a coupling element 322. In various embodiments, the coupling element 322 is a pin or other rotatable connection that allows the second horizontal element 320 to rotate within the horizontal plane defined by the second horizontal element 320.

[0039] The coupling element 322 couples the second horizontal element 320 to a third horizontal element 324. The coupling element 322 is positioned along the length of the third horizontal element 324 such that the second horizontal element 320 is rotatable relative to the third horizontal element 324. A first end of the third horizontal element 324 is coupled to a first vertical element 317 at a first end of the first vertical element 317. A second end of the first vertical element 317 is coupled to the effector 170.

[0040] A second end of the third horizontal element 324 is connected to a gripping arrangement 326. In various embodiments, the gripping arrangement 326 comprises a graspable element 327 that extends perpendicular to the third horizontal element 324 within the horizontal plane defined by the third horizontal element 324. The graspable element 327 provides two gripping areas on either side of the third horizontal element 324. The operator manipulates the position of the hose 150 coupled to the effector 170 by applying a pressure force to the graspable element 327.

[0041] The insertion mechanism 300 is a kinematic mechanism that restricts or limits some of the moments of the mechanism while allowing translational movement of the effector 170 and the insertion device 100. In particular, the insertion mechanism 300 restricts the moments in two (2) of the three (3) rotational degrees of freedom while allowing all three (3) translational degrees of freedom. The insertion mechanism 300 allows or enables rotation about a vertical axis defined by the vertical support element 308. The insertion mechanism 300 restricts the rotational degree of freedom corresponding to the moment associated with the insertion force exerted on the insertion mechanism 300 at the graspable element 327. The insertion mechanism 300 allows or enables translational movement in both a longitudinal direction (i.e., toward the insertion point 135 and away from it, as shown in Figure 1). Fig. 6 and Fig. 7 seen) as well as in a vertical direction (i.e., an upward and downward movement, as in Fig. 6 and Fig. (see Figure 7). The first, second, and third horizontal elements 318, 320, 324 can move vertically due to the connection of the first horizontal element 318 with the vertical adjustment element 312. The first, second, and third horizontal elements 318, 320, 324 can also move within the horizontal planes defined by each of the first, second, and third horizontal elements 318, 320, 324 in response to a force applied by the operator to the handle assembly 326. The first and second horizontal elements 318, 320 act as torque response elements, so that the insertion mechanism 300 limits the moments while allowing translational movement of the effector 170 and the hose insertion device 100.

[0042] Fig. Figure 8 shows another embodiment of an insertion mechanism 400. The insertion mechanism 400 is a head-supported mechanism that allows movement in rotational and translational degrees of freedom, while restricting one rotational degree of freedom corresponding to the moment associated with the insertion force. The insertion mechanism 400 allows or enables translational and rotational movements in multiple degrees of freedom of the effector 170 to facilitate insertion and improve operator ergonomics. The insertion mechanism 400 comprises a first horizontal support element 402, which in various embodiments includes a guide element 403. The guide element 403 is a rail extending along a length of the first horizontal support element 402. A carriage 404 is rotatably coupled to a vertical support element 408 via a first coupling element 406.The trolley 404 is configured to move within / along the guide element 403, causing the vertical support element 408 to move along an axis defined by the first horizontal support element 402. In various embodiments, the first coupling element 406 is a pin connection between the trolley 404 and a first end of the vertical support element 408, which allows the vertical support element 408 to rotate or pivot relative to the first horizontal support element 402.

[0043] The vertical support element 408 is connected at one end to a second horizontal element 410 via an interface element 412. In various embodiments, the interface element 412 is a Y-shaped element connected at one end to the vertical support element 408 and at the opposite end to opposite sides of the second horizontal element 410. The interface element 412 is coupled to the second horizontal element 410 by a second coupling element 414. The second coupling element 414 is a pin connection between the second horizontal element 410 and the interface element 412, which allows the second horizontal element to pivot or rotate relative to the vertical support element 408. The second horizontal element 410 is connected to the vertical support element 408 approximately at the midpoint of its length.The second horizontal element 410 is thus able to pivot around a midpoint of its length depending on the operator direction.

[0044] A first end of the second horizontal element 410 is coupled to a first vertical element 417. The first vertical element 417 connects the second horizontal element 410 to the effector 170. A second end opposite the first end of the second horizontal element 410 is coupled to a grip assembly 426. The grip assembly 426 comprises a connecting element 428 and a gripping element 427. The gripping element 427 provides two gripping areas on either side of the connecting element 428 and the second horizontal element 410. The operator manipulates the position of the component coupled to the effector 170, such as the hose 150, by applying a pressure force to the gripping element 427.

[0045] In various embodiments, such as in Fig.As shown in Figure 8, a sensor 26 is coupled to or in electronic communication with the effector 170. In various embodiments, the sensor 26 includes an imaging sensor, such as a camera, configured to provide an image of the insertion site to enable concealed insertions. Additionally, in various embodiments, an actuator 30 is coupled to the effector 170 and / or the insertion device 100. The actuator 30 provides an active impulse force, such as dithering, to assist the insertion of the component. In various embodiments, the sensor 26 and the actuator 30 are in electronic communication with the controller 22. In various embodiments, the controller 22 is configured to generate a signal, such as a display image, acoustic, or haptic feedback to the operator during the insertion process.In various embodiments, the control unit 22 also offers a verification of the successful insertion of the component by analyzing the data received from the sensor 26.

[0046] In various embodiments, the insertion device 100 is configured to fit over a hose clamp that surrounds the outer surface 152 of the component, such as the hose 150. The gripping surface 109 is connected to the outer surface 152 of the component, such as the hose 150, because the insertion device 100 is connected to the hose clamp via any type of clamp engagement means extending from the inner surface 114 of the body 102. In various embodiments, the clamp engagement means are released and engaged in response to control signals received from an actuator coupled to the insertion device 100, such as the actuator 30.

[0047] In some embodiments, the insertion device 100 is released around the component, such as the hose 150, after completion of the insertion process, while maintaining engagement with a tension release ring of the hose clamp. Releasing the insertion device 100 pulls the ring away from or removes it from the hose clamp. In various embodiments, a sensor, such as sensor 26, generates data after the insertion device 100 and the ring have been retracted, indicating successful removal of the tension release ring and thus confirming that the hose clamp tension has been achieved during the assembly process. In other embodiments, the ring is released from the insertion device 100 by retracting or releasing the clamp engagement means.

[0048] While exemplary embodiments of insertion mechanisms are described here, it is understood that other configurations supporting a component during an insertion process, such as a hose, limiting some of the moments associated with applying force to insert the component at an insertion point and allowing vertical and horizontal planar displacement of the end of the component to align the component with the insertion point by means of a shear force, also fall within the scope of this disclosure.

[0049] Additionally, while the exemplary embodiments described here are discussed in relation to a hose insertion process, it is understood that the insertion mechanisms, insertion devices, and effectors discussed here can be used to assist operators in assembly operations involving other components, such as, but not limited to, spark plugs, electrical connectors, etc.

[0050] It should be emphasized that many variations and modifications can be made to the embodiments described herein, the elements of which are to be understood as further acceptable examples. All such modifications and variations are to be included within the scope of this description and protected by the following claims. Furthermore, each of the steps described herein can be carried out simultaneously or in a different order than that specified here. Moreover, as should be evident, the features and characteristics of the specific embodiments described herein can be combined in various ways to form additional embodiments, all of which fall within the scope of this description.

[0051] The conditional language used here, such as "may," "could," "e.g.," and the like, is, unless explicitly stated otherwise or understood differently in context, generally intended to convey that certain embodiments contain certain features, elements, and / or states, while other embodiments do not. Therefore, such conditional language is generally not intended to imply that features, elements, and / or states are in any way required for one or more embodiments, or that one or more embodiments necessarily contain logic to decide, with or without input or prompting from the author, whether these features, elements, and / or states are included or executed in a particular embodiment.

[0052] Furthermore, the following terminology may have been used here. The singular forms "ein," "eine," and "die" include plural references unless the context clearly indicates otherwise. For example, a reference to an article includes a reference to one or more articles. The term "einige" refers to one, two, or more and generally refers to the selection of part or all of a quantity. The term "mehrere" refers to two or more of an article. The term "ungefähr" or "annähend" means that quantities, dimensions, sizes, formulations, parameters, shapes, and other characteristics need not be exact but may be approximate and / or larger or smaller as desired, taking into account acceptable tolerances, conversion factors, rounding, measurement errors, and the like, as well as other factors known to a person skilled in the art.The term “essentially” means that the specified feature, parameter or value does not have to be achieved exactly, but that deviations or variations, including, for example, tolerances, measurement errors, limitations of measurement accuracy and other factors known to the person skilled in the art, may occur on an order of magnitude that does not preclude the intended effect of the feature.

[0053] For the sake of simplicity, a large number of elements may be represented in a single list. However, such lists should be interpreted as if each member of the list is individually identified as a separate and unique member. Therefore, no single member of such a list should be considered the de facto equivalent of any other member of the same list solely on the basis of their representation in a common group, without evidence to the contrary. Furthermore, the terms "and" and "or," when used in conjunction with a list of elements, should be interpreted broadly, so that each or all of the listed elements may be used alone or in combination with other listed elements.The term "alternative" refers to the selection of one of two or more alternatives and is not intended to restrict the selection to the listed alternatives or to only one of the listed alternatives, unless the context clearly indicates otherwise.

Claims

[1] A substitution system comprising: an insertion device (100) comprising a body (102) defining a longitudinal axis, wherein the body (102) comprises a wall (110) with an outer surface (112) and an inner surface (114), defining a cylindrical opening (116) through the body (102), wherein the body (102) has a first section (104) and a second section (106) formed by separating the body (102) along the longitudinal axis; an effector (170) configured to form an interface with the insertion device (100), the effector (170) comprising an effector body (172), a first mechanism coupled to the effector body (172) and coupled to the first section (104) of the insertion device (100), and a second mechanism coupled to the effector body (172) and coupled to the second section (106) of the insertion device (100); and an insertion mechanism (200, 300, 400) coupled to the effector body (172); wherein the insertion mechanism (200, 300, 400) is configured to allow the application of an insertion force at a position offset from the insertion device (200, 300, 400). [2] Insertion system according to claim 1, further comprising a sensor (26) coupled to the insertion device (100) and a controller (22) that communicates electronically with the sensor (26), wherein the sensor (26) is configured to generate image data of a terminal end of the insertion device (100) during an insertion process. [3] Insertion system according to claim 2, further comprising an actuator (30) coupled to the insertion device (100) and in electronic communication with the control (22), wherein the actuator (30) exerts an active impulse force on the insertion device (100) during the insertion process. [4] Insertion system according to claim 1, wherein the body (102) of the insertion device (100) further comprises a first section (104), a second section (106) and a third section (108) arranged along a length of the body (102). [5] Insertion system according to claim 4, wherein the first section (104) is positioned at a first end of the body (102) and has a gripping surface (109) arranged on the inner surface (114), the second section (106) is positioned adjacent to the first section (104) and the inner surface (114) of the second section (106) defines an extension area, and the third section (106) is positioned at a second end of the body (102) opposite the first end and defines a conical section at the second end of the body (102). [6] Insertion system according to claim 5, wherein the third section (108) has a first surface (111) adjacent to a second surface (113) such that the first and second surfaces (111, 113) define a lip extending from the inner surface (114) of the body (102). [7] Insertion system according to claim 5, wherein the insertion mechanism (200, 300, 400) comprises a rod (202) such that the force is applied parallel to the longitudinal axis defined by the body (102) of the insertion device (100). [8] Insertion system according to claim 1, wherein the insertion mechanism (200, 300, 400) comprises a stand (302) with a base element (304) and a plurality of support elements (306) coupled to the base element (304), a vertical support element (308) coupled to the base element (304) and coupled to the support elements (306), a vertical adjustment element (312) coupled to and parallel with the vertical support element (308), a collar (316) surrounding the vertical adjustment element (312), a first horizontal element (312), a second horizontal element (318), and a third horizontal element (324), wherein the first horizontal element (312) is rotatably coupled to the collar (316) at a first end and rotatably coupled to the second horizontal element (320) at a second end.the second horizontal element (320) is rotatably coupled to the third horizontal element (324), and the third horizontal element (324) is coupled at a first end via a first vertical element (317) to the effector (170) and at a second end to a handle arrangement (326). [9] Insertion system according to claim 8, wherein the insertion mechanism (200, 300, 400) allows only one rotation about the vertical support element (308) and limits moments associated with an insertion force exerted on the insertion mechanism (200, 300, 400) on the handle arrangement (326). [10] Insertion system according to claim 1, wherein the insertion mechanism (200, 300, 400) comprises a first horizontal element (312), a second horizontal element (318), a vertical support element (308), a first vertical element (317) and a carriage (404), wherein the first horizontal element (312) comprises a guide element (403) such that the carriage (404) moves within the guide element (403), wherein the first horizontal element (312) is rotatably coupled to the vertical support element (308), the second horizontal element (320) is rotatably coupled to the vertical support element (308), and the second horizontal element (320) is coupled at a first end via the first vertical element (317) to the effector (170) and is coupled at a second end to a handle arrangement (326).

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