Endoscopy Tendon Actuation with Dual Motor Segmentation
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Solution Overview
Problem
Endoscopy systems face challenges in ensuring optimal functioning of components, particularly in maintaining tendon tension and synchronizing motors to prevent slack, which affects the precise actuation of surgical tools during procedures.
Innovation Solution
The endoscopy system incorporates a driving motor, a following motor, a joint arrangement, and tendons that alternate between pulling and pushing to maintain tension, with a controller managing the motors to ensure optimal tension and prevent tendon slack, allowing for precise actuation of surgical instruments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single motor is used to actuate the joint arrangement, then the device complexity is reduced, but the manufacturing precision and reliability of tendon tension maintenance deteriorates
Solution Approach 1:
The single motor actuation system is segmented into two functional components: a driving motor that generates actuation force and a following motor that maintains tendon tension. This segmentation allows each motor to specialize in one function, with the driving motor providing primary actuation and the following motor compensating for tendon slack, thereby resolving the contradiction between device simplicity and tension control precision.
Solution Approach 2:
The following motor acts as an intermediary between the driving motor and the joint arrangement. It mediates the transmission of force by actively maintaining tendon tension, ensuring that the pulling tendon remains taut during actuation. This intermediary function prevents tendon slack without requiring complete redesign of the actuation system.
2Ease of operation
If tendon slack is allowed during actuation, then the ease of operation improves, but the manufacturing precision of surgical tool actuation deteriorates
Solution Approach 1:
The following motor implements a feedback mechanism by continuously monitoring and adjusting tendon tension during actuation. It receives position feedback from the joint arrangement and actively compensates for tendon slack by adjusting its own position, thereby maintaining precise control of the surgical tool while allowing smooth operation without tendon binding.
Solution Approach 2:
The system transitions from a static tendon tension model to a dynamic one where the following motor actively adjusts tension in real-time. This dynamic adjustment allows the tendon to remain taut during motion, preventing slack and binding while maintaining precision in surgical tool positioning throughout the actuation range.
3Reliability
If the pulling tendon is kept under constant tension, then the reliability of actuation improves, but the use of energy increases
Solution Approach 1:
The following motor operates periodically rather than continuously, engaging only when tendon slack is detected or anticipated during actuation phases. This periodic intervention maintains tendon tension reliability while minimizing energy consumption by allowing the driving motor to perform the primary work during most of the actuation cycle.
Solution Approach 2:
The system dynamically changes the tension parameter of the pulling tendon based on actuation phase. During active actuation, the following motor maintains higher tension for reliability. During idle or return phases, it reduces tension to minimize energy consumption, thereby resolving the contradiction between consistent actuation and energy efficiency.
Data Source
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Figure 3A~3B
AI summary
An endoscopy apparatus includes an elongate member for insertion into a shaft of a transport endoscope, a surgical tool, and a visible feature on the elongate member, the surgical tool or both. The surgical tool is coupled to a distal end of the elongate member and has an effector at an opposite end. The location of the visible feature is fixed relative to a roll orientation of the effector, so that a position of the visible feature during use indicates the roll orientation of the effector. Other embodiments include an endoscopy surgical instrument controller to control the movements of a pulling tendon and a pushing tendon, an adaptor for coupling a motor shaft to actuate a tendon of an endoscopy surgical instrument, an endoscopy surgical instrument controller to actuate a terminal joint, and a transport endoscope docking station comprising a base and a platform to which the base is rotatably coupled.