Cam System Actuator for Surgical Robot Tip Precision

A cam mechanism is introduced as an intermediary component between the single actuator and the two distal portions of the surgical instrument. The cam converts the rotational motion of the actuator into synchronized linear motion of two rollers, which in turn move the distal portions. This mechanical intermediary ensures equal and opposite movement of both distal portions without stick-slip, eliminating parasitic movement while maintaining the benefits of a single actuator system.

The patent merges the functions of two separate actuators into a single actuator system. The cam mechanism is designed such that one actuator simultaneously controls both distal portions through its cam profile, which coordinates the motion of two rollers. This consolidation reduces the number of actuators from two to one, thereby reducing weight, volume, and energy consumption while maintaining precise control and eliminating parasitic movement through the cam's mechanical synchronization.

The patent replaces complex electronic control systems with a purely mechanical cam-based solution. Instead of using sensors, motors, and control algorithms to synchronize the distal portions, the invention uses a cam mechanism that passively enforces synchronized motion through its geometric profile. This mechanical substitution eliminates the need for complex control systems while achieving the same precision and eliminating stick-slip effects.