Medical Manipulator Linear-Member Relaxing Unit for Safe Removal
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Solution Overview
Problem
Existing medical manipulators face difficulties in smoothly removing the insertion section from the body when the mechanism for bending the bendable portion is faulty, as the bendable portion maintains a certain shape against tissue form within the body.
Innovation Solution
A manipulator design that includes a power generator, power transmitters, and a linear-member relaxing unit, which allows for the relaxation of linear members to facilitate smooth removal by actuating the linear-member relaxing unit to set the bendable portion in a deformable state, even when the power generator or transmitters are faulty.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the decelerating mechanism is used to accurately control the bending angle, then the bending precision is improved, but the device complexity increases due to the threaded shaft and nut mechanism
Solution Approach 1:
The patent extracts the decelerating mechanism (threaded shaft and nut) from the bending mechanism and replaces it with a direct wire-driven bending system. The linear members (wires) directly control the bendable portion without the intermediate mechanical conversion mechanism, simplifying the overall device while maintaining bending control capability.
Solution Approach 2:
The patent replaces the mechanical decelerating mechanism (threaded shaft and nut converting rotational motion to linear motion) with a direct linear actuation system using wires. This substitution eliminates the complex mechanical transmission components while achieving the same bending control function through direct linear force application.
2Stability of the object's composition
If the linear members are tensioned to maintain a stable bent shape, then the bending stability is improved, but the ease of removal deteriorates when the pulling mechanism fails
Solution Approach 1:
The patent introduces a dynamic tensioning system where the linear members can be selectively tensioned or relaxed. The control unit can adjust the tension state of the linear members based on operational needs - maintaining tension for stable bending during use, and releasing tension for easy removal when needed or when failure occurs.
Solution Approach 2:
The patent changes the physical parameter of the linear members from a constant tensioned state to a variable tension state. By controlling the tension level of the linear members through the control unit, the system can transition between a stable bent configuration during operation and a relaxed state for removal, adapting to different operational phases.
3Adaptability or versatility
If multiple power transmitters are used to control multiple linear members, then the bending control capability is improved, but the reliability deteriorates when one of the power transmitters or linear members fails
Solution Approach 1:
The patent introduces a feedback mechanism where the control unit monitors the operational status of each power transmitter and linear member. When a failure is detected in one component, the control unit receives feedback about the failure and automatically adjusts the tension distribution among the remaining functional linear members to maintain bending control capability.
Solution Approach 2:
The patent dynamically changes the tension parameters of the linear members based on the operational status of the power transmitters. When one power transmitter fails, the control unit redistributes the tension load among the remaining functional linear members by adjusting their tension parameters, allowing the system to maintain bending control with reduced but still effective capability.
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 smooth removal of the insertion section from the body by relaxing the linear members, allowing the bendable portion to be flexibly deformed and removed, even in faulty conditions.
Implementation Method 1
a plurality of power transmitters that are provided in the main portion and that transmit, to proximal ends of the linear members, the power generated by the power generator as linear motion in a longitudinal direction of the main portion
Implementation Method 2
a linear-member relaxing unit that relaxes the plurality of linear members in which tension is generated between the distal end portion and the power transmitters by being pushing and pulling of the linear members in the longitudinal direction
Data Source
Figure 1
Figure 2
Figure 3A~3B
AI summary
Provided is a manipulator (1) including an elongated main portion (3), a distal end portion (4), and a bendable portion 5) provided between the main portion (3) and the distal end portion (4); a plurality of linear members (6) that extend from the distal end portion (4) to the main portion (3) via the bendable portion (5); a power generator (9); a plurality of power transmitters (8, 10, 11) that transmit, to proximal ends of the linear members (6), the power generated by the power generator (9) as linear motion in a longitudinal direction of the main portion (3); and a linear-member relaxing unit (12) that relaxes the linear members (6) in which tension is generated between the distal end portion (4) and the power transmitters (8, 10, 11) by pushing and pulling of the linear members (6) by the linear motion transmitted from the power transmitters (8, 10, 11).