Dynamic Expandable Pulley for Medical Instrument Wire Tension
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Solution Overview
Problem
Current medical robotic systems face challenges in efficiently navigating and articulating medical instruments within complex anatomical structures during procedures like endoscopy and laparoscopy, often requiring cumbersome arm motions and lacking precise control, which can lead to suboptimal procedure outcomes.
Innovation Solution
A dynamic pulley system with expandable pulleys is introduced, allowing for bi-directional control of pull wires to maintain tension and minimize slack, enabling more efficient articulation and navigation of medical instruments by dynamically expanding and collapsing to maintain optimal tension on wires, thus reducing response lag and improving control precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional fixed pulley systems are used for wire control, then the structure is simple, but wire slack cannot be minimized and response lag increases
Solution Approach 1:
The patent applies the dynamics principle by transforming fixed pulleys into dynamic, expandable pulleys that can change their configuration. The pulley system expands when wires are pulled and collapses when wires are released, allowing the system to adapt its structure based on operational needs. This dynamic behavior enables the pulleys to maintain wire tension effectively while minimizing slack, thereby improving control precision without requiring overly complex static structures.
Solution Approach 2:
The patent implements parameter changes by modifying the physical state of the pulleys from static to variable. The pulleys can expand and collapse, changing their effective diameter and wire routing characteristics. This parameter change allows the system to optimize wire tension and eliminate slack dynamically, resolving the contradiction between maintaining simple structure and achieving precise control.
2Measurement precision
If expandable pulley systems are used to maintain wire tension, then control precision improves, but device complexity increases
Solution Approach 1:
The expandable pulley system uses dynamics to improve articulation precision. When articulation is required, the pulleys expand to engage the wires effectively, providing precise control. When not in use, they collapse to a compact form. This dynamic adaptation allows high precision control when needed while keeping the overall device complexity manageable through space-efficient packaging.
Solution Approach 2:
The patent applies nesting by allowing the pulleys to collapse into compact forms that can be nested within the instrument shaft or housing. The expandable pulleys can be stored in a collapsed state within limited space, and only expand when wire tension is applied. This nesting capability reduces the space required and manages device complexity while maintaining articulation precision during operation.
3Productivity
If multiple wires are controlled through fixed pulleys, then the system is easy to manufacture, but response lag increases due to wire slack
Solution Approach 1:
The dynamic pulley system eliminates response lag by expanding when wires are pulled, immediately engaging the wires without slack. This dynamic engagement ensures that wire tension is transmitted directly to the articulation points without delay. The pulleys collapse when not in use, but are ready to expand instantly when needed, maintaining continuous readiness and eliminating the time loss associated with wire slack in fixed pulley systems.
4Reliability
If dynamic expandable pulleys are used, then wire tension is optimized and response lag reduced, but manufacturing complexity increases
Solution Approach 1:
The dynamic pulley design optimizes control responsiveness through its ability to expand and collapse. The expansion mechanism is triggered by wire tension itself, eliminating the need for complex external actuators or control systems. This self-actuating dynamic behavior improves responsiveness while keeping the manufacturing complexity relatively low, as the system uses passive mechanical principles rather than active control components.
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 dynamic pulley system enhances the precision and efficiency of medical instrument articulation, reducing response lag and improving control, allowing for more effective navigation and manipulation within anatomical structures during medical procedures.
Implementation Method 1
maintain tension and minimize slack
Implementation Method 2
dynamic pulley system with expandable pulleys... enabling more efficient articulation and navigation
Data Source
AI summary
Certain aspects relate to systems and techniques for robotic medical instrument system. The medical system can include an elongated shaft configured for insertion into a patient. The system can also include a pull wire extending along the elongated shaft. The pull wire can be actuatable to articulate the elongated shaft. The medical system can include a dynamic pulley coupled to the pull wire, the dynamic pulley configured to collapse during rotation in a first direction and to expand during rotation in a second direction opposite the first direction.