Parallel-Link Manipulator Arm Covers to Prevent Surgical Gaps
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Solution Overview
Problem
Existing manipulator arms in surgical assist systems face issues with covers sliding against each other, creating gaps and potential foreign matter, which complicates their use in clean surgery environments.
Innovation Solution
The manipulator arm design features a parallel link mechanism with covers placed on the same first link, minimizing sliding and gap formation by ensuring the covers move in unison, reducing the distance traveled, and attaching at rotation centers for precise control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If covers are placed on different links to protect actuators and links, then protection is improved, but sliding between covers occurs creating gaps and foreign matter risks
Solution Approach 1:
The patent merges the placement location of multiple covers onto the same link (first link). Specifically, both the first cover and second cover are placed on the first link, causing them to move together as a single unit. This eliminates relative sliding between covers while still providing protection for the actuator and link mechanisms, thereby resolving the contradiction between protection capability and foreign matter risk.
2Reliability
If covers are placed to accommodate actuator movement, then actuator protection is improved, but cover sliding increases creating gaps
Solution Approach 1:
The patent combines the mounting positions of multiple covers onto the same moving component (first link). This ensures that all covers experience identical displacement and remain stable relative to each other throughout the actuator's range of motion, eliminating gap formation while maintaining comprehensive protection.
3Area of stationary object
If covers are extended to cover moving components, then coverage is improved, but sliding distance increases creating more gaps
Solution Approach 1:
The patent consolidates the placement of extended covers onto the same link, ensuring that increased coverage area does not result in increased sliding. All covers move together as a unified group, maintaining stable relative positioning even as the entire assembly moves through its operational range.
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 design reduces the likelihood of cover sliding and gap formation, maintaining cleanliness and ease of use in surgical settings by minimizing foreign matter release.
Implementation Method 1
an actuator (51) that is arranged to extend between the first end member (15) and the second end member (25) and that is configured to change its longitudinal length to thereby generate a driving force to rotationally move the first end member (15) and the second end member (25) relative to each other
Implementation Method 2
The link mechanisms used in the manipulator arms may include a four-bar linkage. Examples of the four-bar linkage may include a parallel link in which the respective lengths of opposite links are equal.
Data Source
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AI summary
A manipulator arm includes a parallel link provided with a first end member, a second end member, a first link, and a second link. The manipulator arm includes: an actuator arranged to extend between the first end member and the second end member, wherein a position where the actuator is attached to the first end member is a position that sandwiches, between itself and a position where the second link is attached, a position where the first link is attached, and wherein a position where the actuator is attached to the second end member is a position same as a position where the second link is attached; a first cover placed on the first link from a side opposite the second link with respect to the first link, the first cover covering at least the actuator; and a second cover placed on the first link from a second link side with respect to the first link, the second cover covering at least the second link and the actuator.