Surgical Manipulator Force Amplification and Energy Transfer
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing manipulators for robotic surgery lack an effective mechanism to amplify gripping force and efficiently transfer energy for stable tissue gripping and treatment during energy applications.
Innovation Solution
A manipulator design featuring a force amplifying mechanism that uses a pulley system to amplify gripping force and energy transfer parts with flexible substrates to prevent interference, allowing for stable tissue gripping and efficient energy application.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If a gripping mechanism is provided at the distal end of the insertion portion, then the manipulator can grip body tissue, but the gripping force is insufficient for stable tissue gripping
Solution Approach 1:
A force amplifying mechanism is introduced as an intermediary between the actuator and the gripper. This mechanism includes a force amplifying lever that rotates about a pivot point, where the actuator applies force at one position and the amplified force is transmitted to the gripper at another position, achieving stable tissue gripping through mechanical advantage
Solution Approach 2:
The force amplifying mechanism transforms the linear motion of the actuator into rotational motion of the lever, and then into the gripping force at the distal end. This dimensional transformation allows for force amplification while maintaining the compact structure required for insertion into the body
2Use of energy by moving object
If an energy transfer part is provided in the insertion portion, then energy can be transferred to the energy applying part, but interference with the force amplifying mechanism may occur
Solution Approach 1:
The insertion portion is divided into functionally independent segments: the force amplifying mechanism and the energy transfer part are arranged as separate, non-interfering components. The energy transfer part is positioned and oriented such that it does not interfere with the rotation of the force amplifying lever, allowing both functions to operate independently and simultaneously
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 manipulator achieves stable gripping and efficient energy treatment of body tissue by amplifying gripping force and preventing interference between energy transfer and force amplifying mechanisms, ensuring effective energy application.
Implementation Method 1
a force amplifying mechanism configured to amplify gripping force of the gripper
Implementation Method 2
an energy transfer part configured to transfer energy to the energy applying part
Data Source
AI summary
A manipulator includes: an elongated body portion that can be inserted into a body; and an energy treatment mechanism provided at a distal end of the body portion. The energy treatment mechanism is provided with gripping pieces that can grip body tissue and an energy applying part configured to apply energy to the body tissue gripped by the gripping pieces. The body portion is provided with an energy transfer part configured to transfer energy to the energy applying part and a force amplifying mechanism configured to amplify gripping force of the gripping pieces.