Instrument Drive Assembly With Rotary and Push-Pull Motion Control
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Traditional minimally invasive surgery (MIS) instruments require manual operations by surgeons, leading to low control accuracy, susceptibility to misoperations due to hand tremors, and operator fatigue, which adversely affect the motion control stability of end effectors.
Innovation Solution
An instrument drive apparatus with a handle, operating levers, rotary rod, and drive assemblies that utilize flexible push-pull wires and rotary mechanisms to automate the control of end effectors, eliminating the need for manual operation and reducing operator fatigue.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual operations are used to control end effectors, then the instrument structure remains simple, but control accuracy decreases and operator fatigue increases
Solution Approach 1:
The patent replaces manual mechanical operations with an automated drive apparatus that includes a rotary drive assembly and push-pull drive assembly. Motors convert electrical signals to rotational motion, which is then transformed into linear push-pull movements of the operating levers through mechanical transmission mechanisms, eliminating hand tremors and fatigue while maintaining structural feasibility
Solution Approach 2:
The drive apparatus is divided into functionally independent modules: a rotary drive assembly for generating rotational motion, a push-pull drive assembly for converting rotation to linear motion, and multiple operating levers for different surgical functions. This modular segmentation allows automated control without requiring a completely complex integrated structure
2Reliability
If automated drive mechanisms are added, then control accuracy improves, but device complexity increases
Solution Approach 1:
The rotary drive assembly and push-pull drive assembly serve multiple functions: they control multiple operating levers simultaneously, enable both rotational and linear motions, and can be adjusted for different surgical instruments. This multi-functionality reduces the need for separate dedicated mechanisms for each function, thereby limiting the increase in overall device complexity while improving motion stability
3Weight of moving object
If flexible push-pull wires are used, then the structure becomes lighter and smaller, but manufacturing precision requirements increase
Solution Approach 1:
The patent incorporates a tensioning mechanism that dynamically adjusts the tension parameter of the flexible push-pull wires. By changing the tension parameter through adjustable tensioning members, the system compensates for variations in wire properties and installation conditions, thereby reducing the stringency of manufacturing precision requirements while maintaining the lightweight and compact advantages of flexible wires
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
The apparatus improves motion control accuracy and stability by converting motor motions into push-pull movements, reducing misoperations and fatigue, enabling lightweight and miniaturized design with reduced manufacturing costs.
Implementation Method 1
a push-pull drive assembly including push-pull drive mechanisms and at least two flexible push-pull wires, the flexible push-pull wires being disposed between the operating levers and output ends of the push-pull drive mechanisms respectively
Data Source
AI summary
The present disclosure discloses an instrument drive apparatus comprising an instrument assembly, a first rotating drive assembly, a second rotary drive assembly, and a push-pull drive assembly, the instrument assembly comprising a handle, operating levers slidably connected to the handle, and a rotary rod rotatably connected to the handle; a rotary seat mechanism is connected to the instrument assembly, a first rotary drive mechanism has an output end connected thereto for driving rotation of the instrument assembly; a rotary wheel mechanism is in transmission connection to the rotary rod, a second rotary drive mechanism has an output end connected thereto for driving rotation of the rotary rod; flexible push-pull wires and the operating levers correspond one to one, push-pull drive mechanisms drive reciprocation of the wires to cause the operating levers to reciprocate. The instrument drive apparatus reliably improves the control accuracy and motion stability of the end effectors.