Antagonistic Rack-and-Pinion Motor Module for Sterile Alignment
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Solution Overview
Problem
Existing surgical robotic systems face challenges in the complex and costly mechanical coupling of motor modules to driver modules, requiring intricate alignment and sterile barriers to prevent contamination, which complicates the use of surgical instruments and increases production costs.
Innovation Solution
A motor module utilizing an antagonistic rack and pinion mechanism that converts rotational movement into translational movement, simplifying the alignment and reducing the need for rotational actuation transfer, allowing for simpler and more cost-effective design, and enabling simultaneous actuation of multiple tendons with fewer motors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If rotational actuation inputs are provided from the motor module to the driver module, then the surgical instrument can be actuated, but the mechanical coupling becomes complex due to alignment requirements and sterile barriers
Solution Approach 1:
The patent replaces the traditional rotational-to-translational mechanical transmission system with a direct translational actuation system. The motor module generates translational movement directly (via linear actuators or lead screws) that can be coupled to the driver module without complex rotational alignment, eliminating the need for precise angular positioning and reducing mechanical interface complexity.
Solution Approach 2:
The patent extracts the rotational-to-translational conversion function from the mechanical coupling interface and relocates it within the motor module itself. By incorporating internal mechanism (such as lead screws or linear actuators) that convert rotational motor output to translational motion internally, the external mechanical coupling only needs to transmit linear motion, significantly simplifying the interface between motor and driver modules.
2Reliability
If a sterile barrier is introduced between the motor module and driver module, then contamination is prevented, but the mechanical coupling becomes more complicated
Solution Approach 1:
The patent introduces a magnetic coupling intermediary that transfers actuation forces across the sterile barrier without physical contact. Magnets in the motor module interact with corresponding magnets in the driver module through the sterile barrier, enabling force transmission while maintaining sterility and avoiding complex mechanical penetrations or seals.
Solution Approach 2:
The patent replaces direct mechanical contact across the sterile barrier with magnetic field interaction. This substitution eliminates the need for mechanical seals, penetrations, or complex coupling mechanisms that would compromise sterility, allowing the sterile barrier to remain intact while still transmitting actuation forces.
3Adaptability or versatility
If multiple motors are used to actuate multiple tendons, then the surgical instrument can be fully actuated, but the motor module becomes more expensive and complex
Solution Approach 1:
The patent implements a universal actuation mechanism where a single motor or actuator can control multiple tendons through a common transmission element (such as a capstan or drum). By wrapping multiple tendons around a single rotating element, one motor can actuate multiple tendons simultaneously or independently, reducing the total motor count while maintaining full actuation capability.
Solution Approach 2:
The patent merges multiple actuation functions into a single integrated mechanism. Multiple tendons are combined and routed through a common actuation point, allowing a single motor to control multiple surgical instrument functions. This consolidation reduces the number of separate motor assemblies, electronic controls, and mechanical interfaces required.
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 solution simplifies the mechanical coupling, reduces production costs, and facilitates easier integration into sterile environments by providing a more straightforward alignment process, enhancing the usability and efficiency of surgical robotic systems.
Implementation Method 1
a primary pinion rotatably driveable by a primary motor, a first primary rack moveably engageable with the primary pinion and a second primary rack moveably engageable with the primary pinion; wherein rotation of the primary pinion causes movement of the first primary rack in a first direction, and movement of the second primary rack in a second direction
Data Source
AI summary
A motor module comprising a primary pinion rotatably driveable by a primary motor, a first primary rack moveably engageable with the primary pinion and a second primary rack moveably engageable with the primary pinion. Rotation of the primary pinion causes movement of the first primary rack in a first direction, and movement of the second primary rack in a second direction, whereby the first and second primary racks and the primary pinion together form an antagonistic rack and pinion mechanism.