Magnetic Coupling Spherical Joint for Remote Manipulation Input Device

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Solution Overview

Problem

Existing multidimensional input devices for remote manipulation, such as those used in surgical simulations, face challenges with slow handpiece replacement and complex wrist joint assembly, hindering quick and efficient operation.

Innovation Solution

A multidimensional input device featuring a handpiece connected to an anthropomorphic arm via a magnetic coupling spherical joint, allowing easy and quick attachment/detachment, and equipped with sensors for detecting movements along three Cartesian axes, along with a gripper and magnetometer for additional degrees of freedom, enhancing manoeuvrability and simplifying replacement.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Stability of the object's composition

If mechanical joining means are used to connect handpiece to anthropomorphic arm, then structural stability is improved, but handpiece replacement speed deteriorates

Engineering Contradiction:

Improvestructural stabilityVSAvoidhandpiece replacement time

Core Design Contradiction:

Stability of the object's compositionVSLoss of time

Solution Approach 1:

The patent replaces the traditional mechanical joining means (screws, clips, or other mechanical fasteners) with a magnetic coupling system. The handpiece contains a permanent magnet that magnetically couples with a ferromagnetic material in the anthropomorphic arm, enabling quick attachment and detachment without mechanical fasteners. This substitution maintains structural stability during use while dramatically reducing replacement time.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Measurement precision

If sensors are housed in the wrist upstream of the handpiece, then measurement capability is improved, but device complexity deteriorates

Engineering Contradiction:

Improvemovement detection capabilityVSAvoidwrist joint assembly complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent segments the sensing function from the wrist joint assembly and relocates it to the handpiece. The handpiece contains accelerometers and gyroscopes that directly measure the handpiece's movement and orientation. This segmentation simplifies the wrist joint assembly by removing sensors from it, while maintaining comprehensive movement detection capability through the handpiece-mounted sensors.

Inventive Principle:

Principle #1Segmentation

3Adaptability or versatility

If multiple handpieces are available for different tools, then operational versatility is improved, but replacement frequency increases

Engineering Contradiction:

Improvetool varietyVSAvoidsimulation efficiency

Core Design Contradiction:

Adaptability or versatilityVSProductivity

Solution Approach 1:

The magnetic coupling system enables rapid switching between multiple handpieces by simply bringing the next handpiece close to the anthropomorphic arm, where magnetic attraction automatically guides and secures it. This eliminates the time-consuming mechanical fastening process, allowing operators to frequently switch between different surgical tools without significantly impacting simulation efficiency, thus maintaining versatility while minimizing replacement time.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

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 device enables faster interaction with simulated scenarios by facilitating quick handpiece replacement and simplified assembly, reducing simulation time and improving operational efficiency.

Implementation Method 1

The handpiece (3) is provided with a permanent magnet (13b) configured to cooperate with a ferromagnetic material arranged in the anthropomorphic arm (2)

Methodology Applied

Scientific EffectMagnetic coupling: Magnetism

Implementation Method 2

an accelerometer (11) arranged in the handpiece (3) and configured to detect the acceleration of the handpiece (3)

Methodology Applied

Scientific EffectAcceleration detection: Accelerometer

Implementation Method 3

a gyroscope (12) arranged in the handpiece (3) and configured to detect the angular movement of the handpiece (3)

Methodology Applied

Scientific EffectAngular movement detection: Gyroscope

Implementation Method 4

magnetic field around the handpiece are associated

Methodology Applied

Scientific EffectMagnetic field detection: Magnetometer

Data Source

PatentEP3177436B1Remote manipulation input device

Publication Date: 2018.12.26 BBZ

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Figure 3~5

AI summary

A multidimensional input device (1 ) comprising an anthropomorphic arm (2) with a handpiece (3) which can be grasped by an operator configured to interact with a scenario represented in a display unit. The handpiece (3) is removably associable to the terminal section (2d) of the anthropomorphic arm (2) through a magnetic coupling spherical joint (4) and comprises: an inertial platform comprising an accelerometer (11 ), a gyroscope (12) and a magnetometer (13); a gripper (14) provided for the operator. The spherical joint (4) comprises a spherical head (5) belonging to the terminal section (2d) of the anthropomorphic arm (2) or the handpiece (3), the spherical head (5) being configured to be removable coupled to a corresponding spherical seat (6) belonging to the handpiece (3) or the terminal section (2d) of the anthropomorphic arm (2). The spherical head (5) and/or the spherical seat (6) are magnetised.