Gimbal Force Transmission Assembly for Low-Slack Instrument Actuation
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Solution Overview
Problem
Existing force transmission systems in medical and industrial instruments face challenges in simplifying manufacturing, reducing part count, and ensuring robust and reliable force transmission, particularly due to complex routing and pre-tensioning requirements of pull-pull actuation members.
Innovation Solution
The use of a gimbal assembly in the force transmission system that allows for independent translation of actuation members along non-parallel axes, reducing the need for pulleys and capstans, and enabling the use of both tensile and compressive forces, along with features like offset gimbal plate thickness to maintain length conservation and reduce slack.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If pull-pull actuation members are used with complex routing paths around pulleys and capstans, then flexibility and force transmission capability are improved, but manufacturing complexity and pre-tensioning requirements increase
Solution Approach 1:
The patent removes pulleys and capstans from the force transmission system, extracting the routing function directly into the shaft structure. The actuation members extend through the shaft with directional changes built into the shaft geometry itself, eliminating the need for separate routing components and simplifying manufacturing.
Solution Approach 2:
The patent merges the routing function with the shaft structure by integrating directional changes directly into the shaft geometry. The actuation members transition from linear to angular paths through the shaft without requiring external pulleys or capstans, combining multiple functions into a single integrated structure.
2Adaptability or versatility
If pulleys and capstans are used to route actuation members, then force transmission flexibility is improved, but part count and assembly complexity increase
Solution Approach 1:
The patent removes pulleys and capstans from the force transmission system, extracting the routing function directly into the shaft structure. The actuation members extend through the shaft with directional changes built into the shaft geometry itself, eliminating the need for separate routing components and simplifying manufacturing.
Solution Approach 2:
The shaft structure serves multiple functions simultaneously: it provides the structural backbone of the instrument, routes the actuation members with directional changes, and eliminates the need for separate pulley and capstan components. This multi-functionality reduces part count while maintaining flexibility.
3Manufacturing precision
If pre-tensioning is applied to actuation members to remove slack, then movement precision is improved, but manufacturing complexity increases
Solution Approach 1:
The patent removes pulleys and capstans from the force transmission system, extracting the routing function directly into the shaft structure. The actuation members extend through the shaft with directional changes built into the shaft geometry itself, eliminating the need for separate routing components and simplifying manufacturing.
4Reliability
If the gimbal plate thickness is offset to maintain length conservation, then slack is reduced, but manufacturing precision requirements increase
Solution Approach 1:
The patent applies a specific offset to the gimbal plate thickness at critical locations where length conservation is needed. Rather than requiring uniform precision throughout the entire component, the offset is localized to specific areas where it provides the most benefit for maintaining actuation member length and reducing slack.
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
This design facilitates automated manufacturing, reduces complexity and part count, and ensures durable and reliable force transmission to actuatable components, such as end effectors and articulable structures, while maintaining precise control over multiple degrees of freedom.
Implementation Method 1
The force transmission system comprises a gimbal assembly that converts rotational input forces to translational forces
Data Source
AI summary
An instrument includes a shaft comprising a distal end portion, a proximal end portion, and a longitudinal axis extending between the distal end portion and the proximal end portion, and a moveable component coupled to the distal end portion of the shaft. A drive assembly is coupled to the proximal end portion of the shaft, the drive assembly comprising a gimbal assembly rotatable about a first axis and a second axis. A first actuation member is coupled to the gimbal assembly and extends from the drive assembly along the shaft and coupled to the moveable component, and a second actuation member is coupled to the gimbal assembly and extends along the drive assembly along the shaft and coupled to the moveable component. Devices, systems, and methods relate to gimbal assemblies and related drive assemblies.