Flexible Wrist Element Using Universal Joints for Surgical Force Transmission
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Solution Overview
Problem
Existing mechanisms for transmitting mechanical force around corners and bends in surgical environments, such as push-pull cables, pulley-cable mechanisms, and hydraulic systems, are inefficient, complex, or bulky, failing to effectively combine axial and rotary movements for precise use in difficult-to-reach areas.
Innovation Solution
A flexible wrist-type element with an angularly moveable hub housing and a rotatable end effector driven via a drive train with universal-type joints, allowing for the transmission of axial and rotational forces through a series of universal joints or Hooke's joints, and incorporating low-friction components and guide elements to maintain proper form and alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If push-pull cables are used to transmit mechanical force around corners and bends, then the mechanism can reach difficult-to-reach areas, but the mechanical efficiency is reduced due to high drag and bending forces
Solution Approach 1:
The drive train is segmented into multiple rigid linkages connected by universal joints, allowing the system to navigate bends and corners while maintaining mechanical efficiency through controlled angular movements rather than continuous cable bending
Solution Approach 2:
The patent replaces flexible cable-based mechanical transmission with a rigid linkage and universal joint system, eliminating the high drag and bending forces inherent in cable mechanisms while achieving the same goal of reaching difficult-to-access areas
2Adaptability or versatility
If cable-pulley mechanisms are used to transmit force around bends, then the system can adapt to angular movements, but the device complexity increases and mechanical strength is reduced
Solution Approach 1:
The universal joint serves as a universal connector that handles both axial and rotational movements, eliminating the need for separate cable-pulley assemblies for different motion types and reducing overall device complexity
Solution Approach 2:
The patent merges the functions of multiple cable-pulley mechanisms into a single integrated rigid linkage system with universal joints, combining axial and rotational motion capabilities into one cohesive structure that is simpler and stronger
3Power
If hydraulic mechanisms are used to transmit force around bends, then the system can provide powerful actuation, but the device size increases and flexibility is limited by hose travel
Solution Approach 1:
The patent replaces hydraulic mechanisms with a mechanically-driven universal joint system, eliminating the need for hydraulic hoses and fluid delivery systems, thereby reducing device size while maintaining actuation capability through direct mechanical coupling
Solution Approach 2:
The invention extracts and removes the hydraulic fluid delivery system from the mechanism, eliminating bulky hoses and reservoirs while retaining the essential function of force transmission through a compact rigid linkage system
4Adaptability or versatility
If hydraulic fluid is delivered around bends to multiple actuators, then the system can control multiple functions, but the device complexity and size increase due to multiple hydraulic lines
Solution Approach 1:
The universal joint system provides multi-functionality by enabling both axial and rotational movements through a single mechanical pathway, allowing control of multiple functions without requiring separate hydraulic lines for each actuator
Solution Approach 2:
The patent merges multiple hydraulic line functions into a single mechanical drive train with universal joints, combining the control of axial and rotational movements into one integrated system that eliminates the complexity of multiple separate hydraulic circuits
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 efficient transmission of mechanical forces around corners and bends with high mechanical efficiency, allowing for precise control and use in surgical applications, and potentially in other fields like robotics and manufacturing, without the need for hydraulic fluid delivery.
Implementation Method 1
The plurality of couplings comprise a plurality of elements movably interconnected by a plurality of joints, wherein the plurality of couplings are movably positionable relative to the body housing and the hub
Implementation Method 2
incorporating low-friction components and guide elements to maintain proper form and alignment
Data Source
AI summary
A flexible wrist-type element and methods of operation thereof, including variations having an angularly moveable hub housing a rotatable and operable end effector driven via a drive train having one or more universal-type joints and/or other flexible couplings moveable via an input mechanism within a housing.