Multi-articulated Manipulator Universal Joint Transmission

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Solution Overview

Problem

Existing wire-operated medical forceps face issues with time lag due to wire tension variations, wire rupture, and reduced rigidity, leading to inaccurate and less precise movements, especially in fine and complex manipulations.

Innovation Solution

A multi-articulated manipulator with a series of hollow outer shells and power transmission shafts made of metallic materials, featuring a linkage mechanism with universal joints and claw power transmission shafts that allow independent movement and bending of grasping members, reducing the need for multiple power transmission shafts and enhancing rigidity and precision.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If wire-operated power transmission is used in medical forceps, then the structure can be simplified and ease of operation is improved, but time lag occurs due to wire tension variations, wire rupture risk increases, and operation accuracy deteriorates

Engineering Contradiction:

Improveease of operationVSAvoidreliability

Core Design Contradiction:

Ease of operationVSReliability

Solution Approach 1:

The patent replaces the wire-based mechanical power transmission system with a direct mechanical coupling system using universal joints and power transmission shafts. This substitution eliminates the intermediate wire element that causes tension variations and rupture risks, while maintaining the flexibility needed for medical forceps operation. The universal joints allow direct torque transmission from the operating handle to the forceps tips through rigid shafts, ensuring reliable and responsive control.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Adaptability or versatility

If multiple power transmission shafts are used to actuate grasping members independently, then adaptability and versatility are improved, but device complexity increases and rigidity decreases

Engineering Contradiction:

ImproveadaptabilityVSAvoiddevice complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent merges the power transmission functions by using a single power transmission shaft that carries both the first and second claw power transmission shafts along its length. This consolidation reduces the number of separate transmission components while still enabling independent actuation of multiple grasping members. The universal joints allow each claw shaft to receive rotational motion from the common power transmission shaft, achieving versatility with reduced complexity.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The common power transmission shaft serves multiple functions by transmitting torque to both the first and second claw power transmission shafts simultaneously. This universal shaft design allows a single component to control multiple grasping members, reducing the overall number of parts needed while maintaining the ability to independently actuate each claw, thereby improving adaptability without proportionally increasing complexity.

Inventive Principle:

Principle #6Universality (Multi-functionality)

3Strength

If metallic materials are used for outer shell and power transmission shaft, then rigidity and strength are improved, but weight increases

Engineering Contradiction:

ImprovestrengthVSAvoidweight

Core Design Contradiction:

StrengthVSWeight of moving object

Solution Approach 1:

The patent applies metallic materials selectively to only the critical load-bearing components (outer shell and power transmission shafts) where strength and rigidity are essential for maintaining structural integrity and transmitting forces. Other non-critical components can use lighter materials, achieving the necessary strength where needed while minimizing overall weight increase. This localized application of heavy materials optimizes the strength-to-weight ratio for the forceps assembly.

Inventive Principle:

Principle #3Local quality

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 solution enables precise and reliable movement of grasping members across wide angles with improved follow-up properties, reducing the risk of wire-related issues and enhancing the manipulator's ability to accurately reach predetermined positions.

Implementation Method 1

a first universal joint (33) installed in the intermediate joint (3B) and connecting the intermediate power transmission shaft (5A2) and the outer shell power transmission shaft (5B2)

Methodology Applied

Scientific EffectUniversal joint: Gimbal

Implementation Method 2

a first screw (22) installed in the intermediate power transmission shaft (5A2) and extending in an axial direction of the intermediate power transmission shaft (5A2)

Methodology Applied

Scientific EffectScrew: Screw

Data Source

PatentUS10173317B2Multi-articulated manipulator

Publication Date: 2019.01.08 NIPPON THOMPSON

AI summary

A multi-articulated manipulator composed of more than one hollow outer shell, joints to connect the outer shells to each other, a grasping member fastened for rotating movement with respect to the proximal outer shell, a claw transmission shaft to actuate the grasping member to rotate and an outer shell power transmission shaft to actuate the outer shells in to rotate independently from each other. The claw transmission shaft and the outer shell power transmission shaft respectively are composed of universal joints capable of rotating force and transmitting torque.