Disc Coupling Engagement Detection Through Resistance Torque
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Solution Overview
Problem
Mechanical systems face challenges in confirming the successful engagement of drive couplings with input couplings, particularly in teleoperative medical systems where instrument discs may not align precisely with drive discs, leading to potential failure in actuating medical instruments during procedures.
Innovation Solution
A method and system that involve rotating an actuating element until a resistance torque is experienced, allowing determination of engagement based on torque resistance, ensuring proper alignment and engagement of drive and input couplings.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the drive discs are rotated to engage with instrument discs, then the engagement reliability is improved, but the time required for engagement confirmation increases
Solution Approach 1:
The system implements feedback by measuring torque resistance during the rotation of drive discs and comparing it against threshold values to determine engagement status. The control system continuously monitors torque measurements and uses this feedback to confirm whether the boss has successfully engaged the pocket, enabling reliable engagement verification without requiring multiple rotational passes.
2Reliability
If multiple rotational passes are performed to ensure proper engagement, then the engagement reliability is improved, but the productivity of the system deteriorates
Solution Approach 1:
The system performs preliminary action by implementing an engagement confirmation process that detects torque resistance during the initial rotation attempt. By measuring torque at predetermined intervals and comparing it to threshold values, the system can confirm engagement on the first rotational pass, eliminating the need for multiple retry rotations and thereby maintaining high productivity.
3Measurement precision
If torque resistance measurement is implemented for engagement confirmation, then the measurement precision is improved, but the device complexity increases
Solution Approach 1:
The system applies self-service by utilizing the motor's existing torque measurement capabilities to confirm engagement. The control system uses the motor controller's inherent ability to measure and regulate torque during normal operation, eliminating the need for separate sensors or additional measurement devices. This approach achieves precise engagement detection while maintaining relatively simple system architecture.
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
Ensures accurate and reliable engagement of drive and input couplings by detecting torque resistance, thereby facilitating precise control of medical instruments and preventing operational failures.
Implementation Method 1
rotating the actuating element until a resistance torque is experienced by the actuating element and determining, based upon the resistance torque, whether the drive input has engaged the input coupling
Data Source
AI summary
A method comprises receiving an input coupling adjacent to a drive input, the drive input being driven by an actuating element, the input coupling being coupled to a joint output, the joint output being connected to a movable object. The method further comprises rotating the actuating element until a resistance torque is experienced by the actuating element and determining, based upon the resistance torque, whether the drive input has engaged the input coupling.