Medical Manipulator Motor Mount With Detachable Torque Sensing
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Solution Overview
Problem
Conventional medical manipulator drive devices lack an easy mechanism for replacing motors, which is necessary due to motor deterioration, affecting the accuracy of bending operations within the body.
Innovation Solution
A drive device for a medical manipulator system that includes a housing, a motor, a support member, a flexure body with detachable connectors, and a strain sensor in the flexure portion, allowing for easy motor replacement and torque sensing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the motor is integrated into a fixed structure for torque sensing, then torque sensing precision is improved, but motor replacement difficulty increases
Solution Approach 1:
The drive device is divided into separable components: the motor unit (motor + support member) can be detached from the housing while the torque sensing mechanism (strain sensor + flexure body) remains with the housing. This segmentation allows the motor to be replaced independently without affecting the torque sensing system, resolving the contradiction between precise torque sensing and easy motor replacement.
Solution Approach 2:
The flexure body acts as an intermediary element that couples the motor support member to the housing while enabling torque transmission to the strain sensor. The detachable connector on the flexure body serves as the interface that allows motor unit removal while maintaining torque sensing capability through the remaining flexure body-strain sensor assembly.
2Ease of repair
If the motor is made replaceable for maintenance, then ease of repair is improved, but torque sensing reliability may deteriorate
Solution Approach 1:
The support member is pre-equipped with a detachable connector that interfaces with the flexure body's connector. This preliminary design of the connection interface ensures that when the motor is replaced, the new motor can be securely attached to the support member, maintaining the structural integrity and torque sensing reliability of the overall system.
Solution Approach 2:
The support member with detachable connector serves multiple functions: it provides mechanical support for the motor, enables torque transmission to the strain sensor, and facilitates motor replacement. This multi-functionality ensures that the torque sensing reliability is maintained while enabling easy motor replacement for maintenance.
3Ease of operation
If a detachable connector is used for motor replacement, then ease of operation is improved, but structural complexity increases
Solution Approach 1:
The detachable connector is nested within the support member structure, with the connector forming an integral part of the support member. This nesting approach allows the connector to provide detachable functionality while minimizing additional structural complexity, as the connector is incorporated into the existing support member design rather than being a separate complex assembly.
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 precise control of bending operations and facilitates easy replacement of motors, ensuring consistent performance and accuracy of medical manipulators.
Implementation Method 1
a strain sensor disposed in the flexure portion
Data Source
AI summary
A drive device for a medical manipulator includes: a housing; a motor; a support member that supports the motor, a flexure body having a first connector fixed to the housing, a second connector detachably connected to the support member, and a flexure portion provided between the first connector and the second connector, a strain sensor disposed in the flexure portion, wherein the second connector is fixed relative to the support member in a circumferential direction of the motor when the support member is attached.