Manipulator Arc Guide Surface Reduces Axis Interference
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Solution Overview
Problem
In endoscopic surgical operations, existing medical manipulators experience mechanism interference between the pitch axis and yaw axis, complicating control systems and making it difficult to adjust gripping force due to mechanical interference.
Innovation Solution
A manipulator design featuring a first member that rotates about a first rotation axis, a driven portion that moves on a circumference, and a flexible member driven by a reciprocating operation, with an arc guide surface that maintains the path length of the flexible member during rotation, reducing mechanism interference between the pitch and yaw axes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a medical manipulator includes a gripper that can rotate about the pitch axis and yaw axis, then the operation degree of freedom is improved, but mechanism interference occurs between the pitch axis and yaw axis
Solution Approach 1:
The manipulator is divided into independent rotational segments: the gripper rotates about the yaw axis independently, and the entire gripper assembly rotates about the pitch axis independently. This segmentation allows each axis to operate independently without interfering with the other, eliminating the mechanism interference described in the prior art.
Solution Approach 2:
The patent introduces a hierarchical rotational structure where the pitch axis rotation operates in one dimensional space (rotating the entire gripper assembly) and the yaw axis rotation operates in another dimensional space (rotating the gripper itself). This dimensional separation allows both rotations to coexist without mechanical interference.
2Ease of operation
If mechanism interference exists between pitch axis and yaw axis, then rotation operation is possible, but control system complexity increases and gripping force adjustment becomes difficult
Solution Approach 1:
The control system is segmented into independent controllers for each axis. The pitch axis controller independently controls the rotation of the entire gripper assembly, while the yaw axis controller independently controls the gripper rotation. This segmentation eliminates the need for complex coordination algorithms to compensate for mechanism interference.
Solution Approach 2:
Each axis is designed to be self-contained and self-controlled, with independent actuators and control circuits. The pitch axis mechanism does not require compensation from the yaw axis control, and vice versa, allowing each subsystem to serve itself without complex inter-subsystem coordination.
3Adaptability or versatility
If mechanism interference occurs between pitch axis and yaw axis, then multi-axis rotation is achieved, but mechanical transmission of operation force becomes difficult
Solution Approach 1:
The mechanical transmission system is segmented into independent transmission paths for each axis. The pitch axis has its own transmission mechanism (first flexible member) that directly transmits operation force to rotate the gripper assembly, while the yaw axis has its own transmission mechanism (second flexible member) that directly transmits operation force to rotate the gripper. This segmentation eliminates the need for complex mechanical coupling between axes.
Solution Approach 2:
Flexible members are introduced as intermediary elements to transmit operation force from the operator to each axis independently. The first flexible member transmits force for pitch axis rotation, and the second flexible member transmits force for yaw axis rotation, allowing simple mechanical transmission without direct mechanical coupling between the two rotational axes.
Data Source
AI summary
A manipulator includes a first member, a second member that supports the first member such that the first member can rotate about a first rotation axis, a driven portion connected to the first member, which moves on a circumference with respect to the first rotation axis as a center in accordance with a rotation operation of the first member, a flexible member that provides, by a reciprocating operation, a force to drive the driven portion, and a change unit including an arc guide surface, which changes a path of the flexible member in accordance with the rotation operation of the first member. The arc guide surface is arranged to maintain a path length of the flexible member in the reciprocating operation during the rotation operation of the first member.