Instrument Coupling Engagement Using Torque-Guided Direction Reversal
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
In mechanical systems, improper engagement between drive outputs and input couplings, such as in teleoperative medical systems, leads to inefficiencies and requires repeated attachment of medical instruments, due to constraints and misalignments causing engagement failures.
Innovation Solution
A method involving processors to determine resistance torque during rotational direction changes of drive outputs, ensuring full engagement by reversing direction if torque is not detected, thereby reducing engagement time and failure rates.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the drive output is rotated in a single preprogrammed direction until engagement, then the engagement process is simple to control, but engagement time is prolonged and failure rate increases due to misalignment
Solution Approach 1:
The system dynamically adjusts the rotation direction of the drive output based on real-time torque feedback. Instead of following a fixed preprogrammed rotation protocol, the control system monitors resistance torque during rotation and automatically reverses direction when engagement is detected, optimizing both speed and reliability of the engagement process
Solution Approach 2:
The system implements feedback control by continuously monitoring the resistance torque experienced by the actuating element during drive output rotation. When the torque exceeds a predetermined threshold indicating successful engagement, the system terminates the rotation protocol, preventing unnecessary continued rotation and enabling adaptive control of the engagement process
2Reliability
If the drive output rotates through multiple preprogrammed revolutions, then engagement is ensured, but engagement time increases and operational efficiency decreases
Solution Approach 1:
The system performs partial action by rotating the drive output only until engagement is detected rather than completing a full preprogrammed number of revolutions. The rotation protocol is terminated early when torque feedback confirms successful coupling, eliminating unnecessary extra rotations and improving operational efficiency
Solution Approach 2:
The engagement process becomes self-regulating through automatic torque monitoring and direction reversal. The system detects engagement conditions itself and terminates rotation automatically, eliminating the need for fixed preprogrammed revolution counts and enabling adaptive optimization of engagement time
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 method significantly reduces engagement time and failure rates by detecting full coupling earlier, minimizing the need for reattachment and enhancing operational efficiency.
Implementation Method 1
A determination is made, by one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating the first drive output
Data Source
AI summary
A method of engaging a medical instrument with a medical instrument manipulator comprises receiving an indication that a first input coupling of the medical instrument is positioned adjacent to a first drive output of the manipulator. The first drive output is driven by a first actuating element. In response to receiving the indication, the first drive output is rotated in a first rotational direction. A determination is made, by one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating the first drive output in the first rotational direction. If the resistance torque is not experienced by the first actuating element after rotating of the first drive output in the first rotational direction, the first drive output is rotated in a second rotational direction. A determination is made, by the one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating of the first drive output in the second rotational direction.