Cable Drive Manipulator Handle Reducing Distal Weight
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing manipulator type operation input devices for remote and 3D operations are bulky, heavy, and complex, making it difficult for operators to perform ultra-precision operations like microsurgery with both hands close together or using a hand rest.
Innovation Solution
The operation input device features a handle portion that can be gripped, supported by a shaft with roll, pitch, and yaw axes, and utilizes a cable transmission mechanism to transmit power from a drive unit located at the root of the shaft, reducing the size and weight of the distal end and enhancing its movable range.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a motor is disposed for each joint to enable haptic presentation and precise operation, then the operation precision and tactile feedback are improved, but the size and weight of the operation input device increases
Solution Approach 1:
The motors are extracted from the distal end and relocated to the proximal end of the operation input device. This separation allows the distal end to be lightweight and compact while the proximal end houses the driving mechanisms, resolving the contradiction between precision operation capability and device weight.
Solution Approach 2:
The operation input device is segmented into distinct functional zones: the proximal end contains motors and power transmission mechanisms, while the distal end contains only the operational components. This segmentation allows each part to be optimized independently for its specific function.
2Reliability
If motors are disposed for each joint to provide tactile sense and force sense, then the haptic feedback capability is improved, but the mechanism near the distal end becomes complicated and heavy
Solution Approach 1:
The complex motor mechanisms are extracted from the distal end and placed at the proximal end. This reduces the complexity at the distal end while maintaining the haptic feedback capability through the power transmission mechanism that connects the proximal motors to the distal operational components.
Solution Approach 2:
A power transmission mechanism acts as an intermediary between the proximal motors and distal operational components. This intermediary transmits mechanical power and motion while allowing the motors to be located at the proximal end, simplifying the distal end structure.
3Adaptability or versatility
If the mechanism near the distal end is made large to support multiple degrees of freedom, then the operational range is improved, but the operator cannot perform operations with both hands close together or use hand rest
Solution Approach 1:
The heavy motor mechanisms are taken out from the distal end, allowing the distal end to be compact and lightweight. This enables the operator to use both hands close together and utilize hand rest while maintaining full operational range through the power transmission system.
Data Source
AI summary
Provided is an operation input device in which a distal end is downsized and a movable range is widened by a cable drive mechanism. The operation input device includes: a handle portion that can be gripped and operated; a shaft that supports the handle portion about a roll axis and a pitch axis at a distal end, and has a longitudinal axis that is a yaw axis orthogonal to the roll axis and the pitch axis; and a cable transmission mechanism that transmits power between the handle portion and a root side of the shaft portion using a cable. The operation input device includes a first motor and a second motor, and further includes a drive unit that generates a driving force for a gripping operation and a rotation operation of the handle portion.