Linear Driving Mechanism Self-Weight Compensation
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Solution Overview
Problem
Master-slave type remote operation devices face challenges in self-weight compensation, leading to increased load during actuation, which affects the operativity and precision of the operation input device and surgical instruments.
Innovation Solution
A linear driving mechanism with self-weight compensation is introduced, featuring a holding member, a first moving body, a second moving body with a weight, and a coupling portion that balances the movement of both bodies to counteract the self-weight, ensuring balanced moments and precise movement without external interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a spring, actuator, or counter weight is used to compensate for self-weight, then the load during actuation is reduced, but the device complexity increases
Solution Approach 1:
The patent applies counterweight principle by providing a second moving body with weight that moves in opposition to the first moving body. The coupling portion connects these bodies so that when the first moving body moves in one direction, the second moving body moves in the opposite direction, creating a counterbalancing effect that reduces the load during actuation without requiring complex external compensation mechanisms
Solution Approach 2:
The patent merges the compensation function into the existing linear driving mechanism structure itself. By integrating the second moving body and coupling portion within the holding member, the invention combines the driving function and self-weight compensation function into a single unified structure, avoiding the need for separate compensation devices and thus reducing overall device complexity
2Ease of operation
If self-weight compensation is implemented, then operativity is improved, but the structure becomes more complex
Solution Approach 1:
The patent implements operativity improvement through anti-weight mechanism where the second moving body with weight counterbalances the first moving body. This reduces the effort required to operate the device while maintaining a relatively simple structure by using the existing linear driving components rather than adding complex external compensation systems
Solution Approach 2:
The linear driving mechanism serves itself by using its own components (first moving body, second moving body, coupling portion) to achieve self-weight compensation. The system uses its internal structure to counterbalance its own weight, eliminating the need for external service or additional complex compensation mechanisms
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 solution effectively compensates for self-weight, maintaining balanced moments and allowing precise movement of the operation input device and surgical instruments, enhancing the device's operativity and reducing the impact of self-weight on the system's operation.
Implementation Method 1
a second moving body provided with a weight, and a coupling portion that couples the first moving body to the second moving body so that the weight moves with a directional component in a direction opposite to a movement direction of the first moving body
Data Source
AI summary
When the mass of the first moving body is defined as M1, the mass of the second moving body is defined as M2, the distance between a first intersection point of a perpendicular line from a rotation center of the rotation axis to the first moving body and a first gravity center of the first moving body when the distance between the first intersection point and the first gravity center in the first moving body is the shortest is defined as L1, and the distance between a second intersection point of a perpendicular line from the rotation center of the rotation axis to the second moving body and a second gravity center of the second moving body when the distance between the second intersection point and the second gravity center in the second moving body is the shortest is defined as L2, M2=(L1/L2)×M1 is satisfied.