Variably Flexible Pipe Friction Control for Surgical Manipulators
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Solution Overview
Problem
Existing minimally invasive surgical manipulators with flexible pipes face challenges in controlling the flexibility of the pipes during insertion and maintenance of shape at surgical sites, as they require precise control of friction between components to facilitate insertion and maintain position.
Innovation Solution
A variably flexible pipe with a longitudinal structure composed of components that move relative to each other based on different friction states, controlled by a deformable tube that adjusts pressure to switch between low and high friction modes, allowing for selective deformation and stabilization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the flexible pipe uses high friction between components, then the pipe maintains its shape well at surgical sites, but the pipe becomes difficult to insert and manipulate
Solution Approach 1:
The pipe structure transitions from a static friction state to a dynamic friction state through pressure control. The friction characteristics are made variable rather than fixed, allowing the system to adapt between insertion mode (low friction) and operational mode (high friction) by adjusting the degree of component engagement through controlled pressure application.
Solution Approach 2:
The friction parameter between pipe components is changed dynamically through pressure control. By varying the pressure applied to the pipe wall, the friction coefficient between internal components changes, enabling the pipe to switch between easy insertion (low friction) and stable shape maintenance (high friction) states.
2Ease of operation
If the flexible pipe uses low friction between components, then the pipe is easy to insert and manipulate, but the pipe cannot maintain its desired shape at surgical sites
Solution Approach 1:
The pipe structure transitions from a static friction state to a dynamic friction state through pressure control. The friction characteristics are made variable rather than fixed, allowing the system to adapt between insertion mode (low friction) and operational mode (high friction) by adjusting the degree of component engagement through controlled pressure application.
Solution Approach 2:
The friction parameter between pipe components is changed dynamically through pressure control. By varying the pressure applied to the pipe wall, the friction coefficient between internal components changes, enabling the pipe to switch between easy manipulation (low friction) and stable shape maintenance (high friction) states.
3Stability of the object's composition
If the pipe structure is rigid to maintain shape, then the pipe stabilizes well at surgical sites, but the pipe loses flexibility for insertion and manipulation
Solution Approach 1:
The pipe structure transitions from a static friction state to a dynamic friction state through pressure control. The friction characteristics are made variable rather than fixed, allowing the system to adapt between insertion mode (low friction) and operational mode (high friction) by adjusting the degree of component engagement through controlled pressure application.
Solution Approach 2:
The friction parameter between pipe components is changed dynamically through pressure control. By varying the pressure applied to the pipe wall, the friction coefficient between internal components changes, enabling the pipe to switch between easy manipulation (low friction) and stable shape maintenance (high friction) states.
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
Enables easy insertion and precise shaping of the pipe during surgery by controlling friction through pressure adjustments, allowing for flexible manipulation and maintaining the desired shape at the surgical site.
Implementation Method 1
a tube that may be formed of a deformable material configured to cover the plural components and to control the longitudinal structure to selectively be in one of the first state and the second state based on a difference between a controllable pressure inside the tube and a pressure outside of the tube
Implementation Method 2
the first state being where the plural components move relative to each other dependent on a first friction generated by the variably flexible pipe between the plural components, and the second state being where the plural components move relative to each other based on a second friction generated by the variably flexible pipe between the plural components
Data Source
AI summary
Disclosed herein is a variably flexible pipe including at least one flap member having variable flexibility and a tube formed of an elastically deformable material and accommodating the at least one flap member, and a manipulator having the same. The at least one flap member may include a plurality flap parts and a connection part to which one side of each of the plurality of flap parts is connected, and the tube changes pressure applied to the plurality of flap parts according to a controlled change of the inner pressure of the tube, thereby causing the variably flexible pipe to be effectively selectively maintained in a deformed state.