Medical Manipulator Transmission Blocking Device
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Solution Overview
Problem
In laparoscopic surgery, medical manipulators with bending mechanisms can become fixed in a bent state due to drive system failures, making it difficult to remove them from the patient without causing burden, and existing solutions like power transmission blocking mechanisms are not always effective.
Innovation Solution
A medical manipulator design incorporating a motor, a lever, a wire, and a transmission blocking device with a cutting surface to switch from motor-driven force to lever-driven force, allowing the bending portion to be manually operated by cutting the wire and creating slack, enabling safe removal without additional tools.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a motor-driven power transmission mechanism is used to control the bending portion, then automated control and precision are improved, but the risk of the bending portion becoming fixed in a bent state due to drive system failure increases
Solution Approach 1:
A cutting surface is introduced as an intermediary element between the motor and the wire. When drive system failure occurs, the cutting surface can cut the wire to disconnect the motor from the bending portion, allowing manual operation and preventing the bending portion from becoming fixed in a harmful state.
Solution Approach 2:
The power transmission system is segmented into two independent paths: motor-driven path (through the wire) and manual path (through the lever). The cutting surface enables switching between these segments by disconnecting the motor path, ensuring that failure in one segment does not compromise the entire system's reliability.
2Adaptability or versatility
If a power transmission blocking mechanism such as a clutch is provided, then the ability to switch to manual operation is improved, but the device complexity increases
Solution Approach 1:
The complex clutch mechanism is extracted and replaced with a simple cutting surface. The cutting surface directly cuts the wire to block power transmission, eliminating the need for additional blocking mechanisms while maintaining the ability to switch between motor-driven and manual operation modes.
Solution Approach 2:
The wire is designed as a disposable element that can be cut by the cutting surface. Once cut, the wire is discarded and a new wire can be installed to restore motor-driven operation, providing a simple and cost-effective solution compared to complex reusable blocking mechanisms.
3Productivity
If the bending portion is fixed in a bent state due to drive system failure, then the procedure can continue, but the patient is burdened when removal is required
Solution Approach 1:
The cutting surface is pre-positioned and ready to cut the wire when needed. This preliminary preparation ensures that when drive system failure occurs, the operator can quickly disconnect the motor and manually straighten the bending portion, preventing it from becoming fixed in a bent state that would burden the patient during removal.
Data Source
AI summary
A medical manipulator including an insertion portion, where the insertion section including a bending portion and an end effector disposed on a distal end side of the insertion portion. The medical manipulator further including an actuator configured to generate a first drive force for moving the bending portion; a lever configured to generate a second drive force for moving the bending portion, the lever being used to move the bending portion instead of the actuator; a wire configured to transmit the first drive force or the second drive force to the bending portion; and a transmission blocking device configured to switch from the first drive force to the second drive force.