Drive Disc Engagement Detection by Resistance Torque Feedback
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Solution Overview
Problem
Mechanical systems face challenges in confirming the successful engagement of a drive coupling with an input coupling, particularly in teleoperative medical systems where instrument discs may not align precisely with drive discs, leading to potential failures 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 successful engagement based on torque resistance, ensuring proper alignment and coupling of drive and instrument discs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the drive disc is rotated to engage with the instrument disc, then engagement is achieved, but initial misalignment may cause unsuccessful engagement on the first attempt
Solution Approach 1:
The system monitors torque resistance during rotation and uses this feedback to determine when engagement has occurred. The control system detects the resistance torque signal and confirms engagement based on predefined thresholds, enabling reliable detection of the engagement state despite initial misalignment.
Solution Approach 2:
The system performs multiple rotational passes if engagement is not achieved on the first attempt. The control system continues to rotate the drive disc and monitor for engagement until successful coupling is detected, ensuring engagement is achieved even if initial alignment is poor.
2Measurement precision
If torque resistance monitoring is implemented to confirm engagement, then engagement confirmation accuracy is improved, but system complexity increases
Solution Approach 1:
The engagement detection system uses the natural torque resistance that occurs during the engagement process itself. The system monitors the torque signal already present in the drive mechanism without requiring separate sensing hardware, allowing the drive system to self-diagnose engagement status.
3Reliability
If multiple rotational passes are performed to ensure engagement, then engagement success rate is improved, but operation time increases
Solution Approach 1:
The control system continuously monitors torque resistance during each rotational pass and immediately detects when engagement occurs. This feedback mechanism allows the system to stop rotating as soon as engagement is achieved, preventing unnecessary additional rotations and minimizing setup time.
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 instrument discs, facilitating precise control of medical instruments by confirming engagement through torque resistance, thereby enhancing the reliability of teleoperative medical procedures.
Implementation Method 1
rotating the actuating element until a resistance torque is experienced by the actuating element
Implementation Method 2
determine, based upon the resistance torque, whether the drive input has engaged the input coupling
Data Source
AI summary
A system comprises an instrument carriage configured to support an instrument. The instrument comprises a joint output and an input coupling configured to move the joint output. The instrument carriage comprises an actuating element. The actuating element comprises a drive input and an actuator coupled to drive the drive input. The drive input is configured to engage the input coupling. The system also comprises a control system configured to drive the drive input with the actuator and determine whether the drive input has engaged the input coupling based on a determination of whether the actuator experiences a resistance greater than a resistance threshold.