Surgical Manipulator With Dual-Spring Buffer For Adjustable Grasping Force
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current manipulators lack the ability to adjust grasping force effectively, leading to inadequate handling of both biological tissue and surgical instruments, requiring separate manipulators for different objects and limiting manipulability.
Innovation Solution
A manipulator design featuring a pair of forceps pieces connected by a pivotal axle, with a manipulation member that adjusts the grasping force through a combination of first and second buffer parts with different spring constants, allowing for elastic deformation and regulation by a stopper to vary the grasping force based on the pulling amount.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a constant grasping force is used, then the manipulator structure is simple, but the manipulator cannot adapt to different objects (biological tissue vs surgical instrument)
Solution Approach 1:
The patent applies the dynamics principle by making the grasping force adjustable rather than fixed. The buffer part can be elastically deformed to different extents based on the object being grasped, allowing the grasping force to dynamically adapt between soft biological tissue and rigid surgical instruments. This resolves the contradiction by enabling versatility through controlled flexibility.
Solution Approach 2:
The patent changes the parameter of grasping force by utilizing elastic deformation of the buffer part. By controlling the degree of elastic deformation through the stopper mechanism, the grasping force can be adjusted to match different object requirements. This parameter change enables the same manipulator to handle both delicate tissue and robust instruments effectively.
2Reliability
If a strong grasping force is used, then surgical instruments can be firmly grasped, but biological tissue may be damaged
Solution Approach 1:
The system dynamically adjusts the grasping force based on the object type. When grasping surgical instruments, the buffer part can be compressed further to generate strong grasping force. When grasping biological tissue, the elastic deformation is limited by the stopper, preventing excessive force that could cause damage. This dynamic adaptation resolves the contradiction between firm grasp and tissue protection.
Solution Approach 2:
The buffer part acts as a cushioning element that absorbs excess force before it reaches the object. The elastic deformation of the buffer part cushions the impact, allowing strong grasping force to be applied to surgical instruments while protecting biological tissue from damage. This beforehand cushioning mechanism resolves the contradiction by preventing harmful forces from reaching the object.
3Object-affected harmful factors
If a weak grasping force is used, then biological tissue is not damaged, but surgical instruments cannot be firmly grasped
Solution Approach 1:
The grasping force is made dynamic through the elastic deformation mechanism. The buffer part can be compressed to different degrees, allowing weak force for tissue protection when needed, and strong force for instrument grip when needed. This dynamic capability resolves the contradiction by providing both protective weakness and gripping strength as required.
Solution Approach 2:
The grasping force parameter is changed by controlling the elastic deformation of the buffer part. The stopper mechanism allows the deformation to be limited for tissue protection, or extended for instrument grip. This parameter adjustment enables the system to provide both weak protective force and strong gripping force, resolving the contradiction between these opposing requirements.
4Reliability
If the grasping force is increased for surgical instruments, then firm grasp is achieved, but the manipulator loses flexibility for delicate tissue handling
Solution Approach 1:
The manipulator maintains operational flexibility by dynamically adjusting the grasping force through the buffer part's elastic deformation. The operator can control the degree of compression to match the object requirements, making the system as flexible as the object being handled. This dynamic adjustment preserves ease of operation across different task types.
Solution Approach 2:
The grasping force parameter is changed to match the operational requirements. The buffer part's elastic deformation can be controlled to provide appropriate force for both delicate tissue handling and robust instrument grip. This parameter flexibility maintains ease of operation by allowing the manipulator to adapt to different handling scenarios.
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
Enables selective adjustment of grasping force to securely handle both delicate biological tissue and surgical instruments, enhancing manipulability by allowing a range of grasping forces to be applied depending on the object, thereby preventing damage or loss.
Implementation Method 1
a buffer part that has a first spring constant and undergoes elastic deformation to change a grasping force acting on an object from the gripping part on the basis of the first spring constant and a pulling amount of the manipulation member
Implementation Method 2
a stopper that regulates the elastic deformation of the buffer part
Implementation Method 3
a second buffer part, which has a second spring constant greater than the first spring constant and undergoes elastic deformation after at least the stopper regulates the elastic deformation of the buffer part to change the grasping force on the basis of the second spring constant and the pulling amount of the manipulation member
Data Source
AI summary
Provided is a manipulator including a first forceps piece and a second forceps piece, which are connected by a pivotal axle and have a gripping part opened or closed on a leading end side thereof. The manipulator includes a manipulation member that is connected to a base end side of the pair of forceps pieces, and moves forward or backward in an axial direction to open or close the gripping part, a first buffer part that has a first spring constant, and undergoes elastic deformation to change a grasping force generated at the gripping part on the basis of the first spring constant and a pulling amount of the manipulation member, and a stopper that regulates the elastic deformation of the first buffer part.