3D Printed Medical Robot with Modular Linkages and Sensor Control
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Solution Overview
Problem
Current 3D printing technologies face challenges in producing accurate and complex mechanisms, such as robots for holding medical instruments, due to limitations in accuracy and load-bearing capabilities of printed parts, especially as depth increases, which affects the precision and reliability of such devices.
Innovation Solution
The development of 3D printed robots with disposable and reusable sub-assemblies, incorporating embedded sensors and image-based control mechanisms, including rotational and translational mechanisms, inertial sensors, and strain gauges, to enhance accuracy and positional control, while utilizing additive manufacturing techniques and magnetically powered quick connect-disconnect couplings for modular design.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If 3D printing is used to manufacture robot parts, then manufacturing cost and complexity are reduced, but manufacturing precision deteriorates as depth increases
Solution Approach 1:
The robot is divided into modular sub-assemblies (reusable assembly and disposable linkage component) that can be manufactured separately using 3D printing. This segmentation allows each component to be optimized for manufacturing while maintaining overall system precision through careful design of interfaces and coupling mechanisms.
Solution Approach 2:
The patent employs composite construction by combining 3D printed plastic components with metal fasteners and mechanical joints. This hybrid approach leverages the cost-effectiveness and design flexibility of 3D printing for non-critical components while using traditional metal manufacturing for high-precision, load-bearing elements.
2Manufacturing precision
If traditional metal machining is used to manufacture robot parts, then manufacturing precision is improved, but manufacturing cost and complexity increase
Solution Approach 1:
By segmenting the robot into modular components, the patent enables selective manufacturing approaches where 3D printing is used for low-volume, non-critical parts and traditional machining is reserved for high-precision, load-bearing components. This segmentation allows optimization of manufacturing methods for each specific component requirements.
Solution Approach 2:
Different manufacturing methods are applied to different parts of the robot based on their specific requirements. Critical components requiring high precision and strength use traditional metal machining, while non-critical components benefit from cost-effective 3D printing. This local differentiation of manufacturing quality and method optimizes both precision and cost.
3Adaptability or versatility
If 3D printed parts are used for critical mechanical linkages, then adaptability and customization are improved, but reliability deteriorates due to layer accuracy limitations
Solution Approach 1:
The patent segments the robot into a reusable assembly (containing motors and control mechanisms) and a disposable linkage component. This segmentation allows the linkage to be optimized for customization and adaptability through 3D printing, while the reusable assembly maintains reliability through traditional manufacturing and robust mechanical design.
Solution Approach 2:
The linkage component is designed as a disposable element that can be easily replaced. This allows the use of 3D printed materials and designs that would be too costly or complex to manufacture traditionally, while maintaining system reliability through the robust design of the reusable assembly and proper coupling mechanisms.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enables the creation of precise and reliable 3D printed robots capable of accurately holding and controlling medical instruments, overcoming the limitations of traditional 3D printing by improving accuracy and adaptability through sensor integration and hybrid control methods.
Implementation Method 1
an inertial sensor embedded in the platform or the end effector
Implementation Method 2
a set of strain gauges mounted on a coupling between the end effector and the RT mechanism
Data Source
AI summary
A system for holding and controlling medical instruments during procedures includes an end effector configured to hold a medical instrument and a rotational and translational (RT) mechanism configured to rotate and translate the medical instrument along an insertion axis. The system further includes a platform coupled to the RT mechanism and a pair of parallel five-bar planar linkages configured to translate, pitch, and yaw the platform with respect to a principal axis that is parallel to the insertion axis.