Segmented Mechanical Arm Joints for Endoscope Spatial Control
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Solution Overview
Problem
Current endoscope technology lacks full and accurate spatial control, making it difficult to precisely maneuver the tip or tool within larger cavities, and existing robotic arms are not suitable for harsh environmental conditions.
Innovation Solution
A mechanical arm assembly with a series of joints configured to rotate, each with a unique angular design and connected by control wires, allowing for precise spatial configuration and navigation through a cavity, and capable of being used with various tools like cameras or medical devices.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a flexible scope is used that relies on being pushed forward and flexing with the geometry of the tube or cavity, then the scope can navigate through the cavity, but fine spatial movement of the endoscope tip is difficult to control
Solution Approach 1:
The mechanical arm is divided into multiple rigid segments or links connected by joints, allowing each segment to be controlled independently. This segmentation enables precise positioning of the endoscope tip by controlling the rotation of individual joints, overcoming the lack of fine spatial control in flexible scopes.
Solution Approach 2:
The mechanical arm employs dynamic control through rotational joints that can be actively actuated and repositioned. This dynamic capability allows real-time adjustment of the arm's configuration to achieve precise tip placement, contrasting with the passive flexing behavior of traditional flexible scopes.
2Measurement precision
If electronic robotic arms are used for spatial maneuvering, then precise coordinate control is achieved, but electronics cannot withstand harsh environmental conditions such as heat or moisture
Solution Approach 1:
The patent replaces electronic actuators with a purely mechanical control system using wires or cables that pass through the mechanical arm. This mechanical substitution eliminates sensitive electronics from the harsh environment while maintaining precise control capability through mechanical wire-driven actuation of the joints.
Solution Approach 2:
Control wires act as intermediaries between the external control mechanism and the internal joints of the mechanical arm. These wires transmit mechanical force through the harsh environment without requiring electronics to be present in the heat or moisture, solving the environmental compatibility issue.
3Ease of operation
If a mechanical arm with multiple rotating joints is used, then precise spatial navigation is achieved, but the device complexity increases
Solution Approach 1:
The mechanical arm joints are designed with universal characteristics, where each joint can rotate about an axis that may change orientation based on the configuration of previous joints. This universality allows a standardized joint design to be repeated throughout the arm, reducing overall complexity despite having multiple joints, as each joint serves the same function in different orientations.
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 mechanical arm assembly provides enhanced spatial control and navigation capabilities, enabling precise placement of tools within complex environments, both in medical and industrial applications, while being adaptable to various conditions.
Implementation Method 1
A bearing may be positioned around the head and configured to insert into the opening in the top of each respective adjacent intermediate and first joint to form a rotational connection between adjacent joints.
Data Source
AI summary
A mechanical arm assembly is generally presented. The mechanical arm assembly comprises a plurality of joints including a first joint, one or more intermediate joints, and a terminal joint connected in consecutive series and each configured to rotate with respect to any respective adjacent joints. The first, intermediate, and terminal joints are configured with their base and top arranged at a given angle with respect to the normal plane of the joint, such as parallel to the normal plane or 22.5 degrees with respect to the normal plane. Rotation of the joints is controlled by control wires. The control wires may be routed internally through the joints or externally outside of the joints.