Surgical Manipulator Handle with Independent Tilt and Rotation Control
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Solution Overview
Problem
Existing manipulators lack intuitive and independent control over the orientation and position of distal-end treatment sections, often requiring complex finger movements and re-gripping to adjust, which can lead to unintended movements and reduced ease of operation during procedures like laparoscopic surgery.
Innovation Solution
A manipulator design featuring a semispherical handle with a tilt shaft parallel to the shaft's longitudinal axis, allowing intuitive tilting and rotation of the distal-end treatment section through distinct operational mechanisms, with push buttons and an encoder for precise motor control, enabling independent adjustment of the shaft and treatment section without interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a grip handle with knob and lever is used for operating the manipulator, then the manipulator can be controlled, but the operation requires complex finger movements and may cause unintended movements
Solution Approach 1:
The operating handle is segmented into distinct functional sections: a grip portion for hand holding, a tilting section for controlling bendable joint movement, and a rotation section for controlling rotatable joint movement. This segmentation allows independent control of different manipulator degrees of freedom, preventing unintended movements while maintaining ease of operation.
Solution Approach 2:
The tilting section and rotation section act as intermediaries between the operator's hand movements and the manipulator's distal-end treatment section. These intermediate operating sections translate simple hand tilting and rotating motions into precise control of the manipulator's complex multi-joint movements, reducing the complexity of direct control.
2Ease of operation
If the handle is designed for gripping with standard dimensions, then it can be held comfortably, but the tilting axis may not align with the operator's hand position
Solution Approach 1:
The handle's geometric parameters are specifically designed so that the tilting axis passes through the operator's hand when gripping the handle in the natural position with the palm close to the proximal end surface. This parameter optimization ensures intuitive control without requiring complex wrist adjustments, while the axis alignment is achieved through careful dimensional design rather than mechanical complexity.
3Adaptability or versatility
If the distal-end treatment section is moved in two-degree-of-freedom with rotation and bending, then the treatment section can be oriented in multiple directions, but independent control of each degree of freedom is difficult
Solution Approach 1:
The control system is segmented into independent channels: the tilting section controls the bendable joint for one degree of freedom, while the rotation section controls the rotatable joint for the second degree of freedom. This segmentation enables independent control of each orientation parameter, allowing the operator to adjust the distal-end treatment section's orientation in multiple directions without coupling between control axes.
Solution Approach 2:
The manipulator incorporates detection units that provide feedback on the position and orientation of the distal-end treatment section. This feedback mechanism allows the operator to make precise adjustments to achieve the desired orientation, with the system responding to tilting and rotation inputs in a controlled, predictable manner.
Data Source
AI summary
A manipulator including an elongated shaft, a distal-end treatment section disposed at a distal end of the shaft, a distal-end articulated section having a bendable joint and a rotatable joint, and a proximal-end operating section disposed at a proximal end side of the shaft, wherein the bendable joint has an axis intersecting a longitudinal axis of the shaft, the rotatable joint has an axis that intersects the axis of the bendable joint and that is substantially aligned with a central axis of the distal-end treatment section, the proximal-end operating section includes a first operating section gripped by one hand and causing the bendable joint to move about the axis intersecting the longitudinal axis of the shaft, and also includes a second operating section provided in the first operating section and causing the rotatable joint to move.