Articulated Shuttle Mechanism for Rigid-Flexible Surgical Navigation
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Solution Overview
Problem
Conventional flexible robots in the medical field face issues with unpredictable bending shapes under load conditions, insufficient structural rigidity, and limited rotation angles between joints, hindering their effectiveness in narrow body spaces.
Innovation Solution
An articulated device with a dual-state mode that switches between a locking mode for rigidity and an extension mode for flexibility, utilizing a continuum robot with a shuttle member and elastic members to adjust rotation angles and positions between joints, allowing for stable surgical operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional flexible robots use a large number of actuators to enable joint movements, then mobility and flexibility are improved, but structural rigidity under load conditions deteriorates
Solution Approach 1:
The articulated device implements a dual-state mode system that dynamically switches between locking mode (for rigidity) and extension mode (for flexibility). The locking mode engages to maintain structural rigidity when load-bearing is required, while the extension mode enables flexibility and mobility during navigation. This dynamic state switching resolves the contradiction by allowing the system to adapt its mechanical properties based on operational requirements.
Solution Approach 2:
The device changes its structural parameters by switching between two distinct states: a locked configuration with high rigidity and an extended configuration with high flexibility. This parameter change allows the system to optimize between strength and adaptability depending on the operational phase, whether navigating narrow spaces or performing stable surgical operations.
2Device complexity
If conventional flexible robots are designed with a single preset rotation angle between joints, then device complexity is reduced, but adaptability in narrow body spaces deteriorates
Solution Approach 1:
The articulated device employs a dynamic joint configuration system where the rotation angle between joints can be adjusted based on operational needs. The dual-state mode enables the joints to switch between fixed preset angles (for simplicity) and adjustable angles (for adaptability). This allows the device to navigate complex anatomical pathways while maintaining manageable structural complexity through standardized joint designs.
3Ease of operation
If conventional flexible robots bend in unpredictable shapes under load, then ease of operation is improved, but manufacturing precision and control deteriorate
Solution Approach 1:
The device implements dynamic control over its bending behavior through the dual-state mode system. In extension mode, the joints can bend to accommodate narrow spaces and complex geometries, providing ease of operation. In locking mode, the structure maintains predictable, controlled shapes for precise positioning and stable surgical operations. This dynamic control resolves the contradiction between flexibility and shape predictability.
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
The device provides stable and flexible surgical operations by maintaining structural rigidity and enabling adjustable rotation angles, enhancing maneuverability in narrow body spaces.
Implementation Method 1
including an elastic member that generates an elastic force to the base member and the shuttle member
Implementation Method 2
the central area of the elastic member may be elastically deformed by the rib when the shuttle member is moved to the first position or the second position
Implementation Method 3
the shuttle member may be supported by the rib while a shape of the elastic member is restored when being moved to the first position or the second position
Data Source
AI summary
Disclosed is an articulated device including a base member, a shuttle member disposed in the base member to be movable to any one of a first position or a second position disposed to be spaced apart from the first position on the base member, and a unit joint provided between the base member and the shuttle member to be movable in the base member together with the shuttle member, and including an elastic member that generates an elastic force to the base member and the shuttle member.