Master Manipulator Wrist Control With Gravity Balance Feedback
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Solution Overview
Problem
Current surgical robots lack accurate simulation of medical staff operations and fail to provide force feedback, leading to increased risk and uncertainty during surgeries, and the operation of the master manipulator affects the terminal tool's performance due to changes in arm assembly position impacting wrist posture.
Innovation Solution
A master manipulator with an arm assembly and wrist assembly, equipped with balance assemblies to counteract gravity torque, brake assemblies for joint control, and a clamping device with feedback components to enhance operation accuracy and efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the arm assembly position changes during master manipulator operation, then the terminal tool can reach different positions, but the wrist posture changes accordingly which affects operation accuracy
Solution Approach 1:
The master manipulator is divided into independent arm assembly and wrist assembly modules, each with separate drive mechanisms. The arm assembly controls position while the wrist assembly controls posture, allowing independent optimization of each function to resolve the contradiction between position range and operation accuracy.
Solution Approach 2:
A connection assembly with universal joints serves as an intermediary between the arm assembly and wrist assembly. This intermediary component decouples the positional control from posture control, enabling the wrist to maintain optimal orientation regardless of arm position changes, thereby preserving operation accuracy while extending position range.
2Productivity
If the master manipulator is operated for a long time, then surgical procedures can be completed, but operator fatigue increases affecting operation quality
Solution Approach 1:
Balance assemblies with springs are installed at each joint mechanism to counteract the gravity torque acting on the arm and wrist assemblies. This anti-weight mechanism compensates for the weight of the manipulator components, eliminating operator fatigue during prolonged use while maintaining full operational capability for completing surgical procedures.
Solution Approach 2:
Force feedback mechanisms provide real-time tactile feedback to the operator during manipulation. This feedback system allows the operator to sense forces and resistance at the terminal tool, improving situational awareness and reducing mental fatigue during long surgical procedures, thereby maintaining operation quality throughout the procedure.
3Measurement precision
If joint mechanisms are added to control arm and wrist movements, then operation precision is improved, but device complexity increases
Solution Approach 1:
Universal joints are employed in the connection assembly to provide multi-axis rotation capability with a single component. This universal joint design achieves precise positional and postural control without requiring separate complex mechanisms for each degree of freedom, thereby improving operation precision while limiting device complexity through component multi-functionality.
Solution Approach 2:
Spring-based balance mechanisms replace complex motorized counterbalance systems. The passive elastic elements provide gravity compensation through mechanical means rather than active electrical control, simplifying the overall system while maintaining precise control capability across all joint mechanisms.
4Device complexity
If gravity torque is not balanced, then device structure is simpler, but operator fatigue increases and operation accuracy decreases
Solution Approach 1:
Spring balance assemblies are integrated into each joint mechanism to counteract gravity torque. These passive elastic elements provide automatic gravity compensation without requiring complex active control systems, maintaining structural simplicity while ensuring operation accuracy is not compromised by unbalanced gravitational forces during manipulator movement.
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 master manipulator improves operation accuracy and efficiency by balancing gravity torque, providing precise control through balanced joint mechanisms and force feedback, reducing fatigue and enhancing surgical precision.
Implementation Method 1
balance assemblies to counteract gravity torque
Implementation Method 2
brake assemblies for joint control
Data Source
AI summary
The present disclosure provides a master manipulator. The master manipulator may include an arm assembly including at least one arm joint mechanism and a wrist assembly movably connected with the arm assembly. The wrist assembly may allow an operator to perform a corresponding operation. The wrist assembly may include at least one wrist joint mechanism. The master manipulator may also include a support assembly configured to support at least one of the arm assembly and the wrist assembly.