Master-End Clamping Mechanism for Two-Stage Force Feedback
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Solution Overview
Problem
Existing surgical micro-instruments face challenges in accurately simulating two-stage clamping forces due to complex structures, asynchronous stress, and inaccuracy in clamping jaw mechanisms, which affect the precision and feedback in robotic surgery.
Innovation Solution
A master-end operating device with a pair of operating mechanisms and an elastic member, featuring a movable member with follower parts and constraint surfaces, provides precise control over clamping forces and tactile feedback, mimicking the natural two-stage force sensation of hand operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If complex structures are used to simulate two-stage clamping forces, then the clamping force simulation capability is improved, but the device complexity increases
Solution Approach 1:
The constraint surface is segmented into multiple sections with different inclinations, where each section corresponds to a specific clamping stage. The first constraint surface section has a first inclination for the first-stage clamping force, while the second constraint surface section has a second inclination for the second-stage clamping force. This segmentation allows accurate simulation of two-stage clamping forces without requiring complex mechanical structures.
Solution Approach 2:
The constraint surface utilizes curved geometries with specific inclinations rather than flat or rigid structures. The first and second constraint surface sections have different curvatures and inclinations that naturally guide the follower part through the two-stage clamping motion, providing accurate force simulation through geometric design rather than complex mechanical components.
2Manufacturing precision
If complex mechanisms are used for clamping jaw control, then the clamping force accuracy is improved, but the manufacturing difficulty increases
Solution Approach 1:
The constraint surface is divided into distinct sections, each manufacturable as a separate geometric feature. The first constraint surface section and second constraint surface section can be independently designed and manufactured with specific inclinations, allowing precise control over clamping jaw positioning while simplifying the overall manufacturing process compared to complex mechanical mechanisms.
Solution Approach 2:
The design changes the geometric parameters of the constraint surface, specifically the inclinations of different sections. By adjusting the inclination angles of the first and second constraint surface sections, the clamping jaw positioning accuracy is controlled through geometric parameters rather than complex mechanical adjustments, making the device easier to manufacture while maintaining precision.
3Measurement precision
If asymmetric structures are used to improve clamping feedback, then the tactile feedback accuracy is improved, but the operational symmetry deteriorates
Solution Approach 1:
The constraint surfaces for the first and second operating mechanisms are designed with asymmetric inclinations. The first constraint surface section has a first inclination different from the second inclination of the second constraint surface section, providing differentiated tactile feedback for different clamping stages. This asymmetric design accurately reflects the natural two-stage clamping sensation while maintaining symmetric operational control through the paired operating mechanisms.
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 device ensures accurate control of clamping forces, enhances operational precision, and provides a realistic tactile feedback experience, improving the accuracy and symmetry of surgical robot operations.
Implementation Method 1
an elastic member, and the elastic member is configured to provide an elastic force to drive the movable member to move toward a top end of the master-end operating device
Data Source
AI summary
The master-end operating device includes a device body, operating mechanisms, a movable member and an elastic member. The operating mechanisms are pivotably connected to the device body, and each is provided with a respective driving part. The movable member is at least partially disposed within the device body and configured to be movable in an axial direction of the device body, where the movable member is provided with follower parts, each of which interferes with the respective driving part to enable the movable member to be movable in the axial direction. The respective follower part has a first constraint surface, which includes at least one bent portion recessed toward a central plane of the device body. The elastic member is configured to provide an elastic force to drive the movable member to move toward a top end of the master-end operating device.