Medical Manipulator Phase Alignment via Detection Pins

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Medical manipulators face challenges in maintaining correspondence accuracy between the drive section and treatment tools due to phase deviations when tools are replaced or remounted, leading to reduced precision in tool operation.

Innovation Solution

A medical manipulator system with a drive unit, treatment tool, operation member, detection shafts, and a shape regulation section that sets phases and regulates the treatment tool's shape to a predetermined operation state, ensuring accurate alignment and operation of the treatment tool's bending section and end effector.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If the treatment tool is detached and reattached to the drive unit, then tool replacement is enabled, but phase deviation occurs between the drive section and treatment tool

Engineering Contradiction:

Improvetool replacement capabilityVSAvoidphase correspondence accuracy

Core Design Contradiction:

Adaptability or versatilityVSMeasurement precision

Solution Approach 1:

The patent employs detection pins and cam surfaces that provide feedback on the relative phase position between the drive section and treatment tool. Sensors detect the position of detection pins as they move along cam surfaces, providing phase information that is fed back to the control system for correction of phase deviations during tool replacement

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The patent replaces purely mechanical phase alignment mechanisms with a sensor-based detection system. Instead of relying on mechanical keyways or alignment features alone, the system uses detection pins, cam surfaces, and sensors to detect and electronically correct phase deviations, substituting mechanical alignment precision with sensor-based measurement and control

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Measurement precision

If the detection pin and cam surface mechanism is used to detect phase position, then phase detection is enabled, but device complexity increases

Engineering Contradiction:

Improvephase detection accuracyVSAvoidengagement section complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The detection pin and cam surface mechanism serves multiple functions: it provides mechanical guidance for assembly, detects phase position through the relative movement of the pin along the cam surface, and provides a reference for sensor measurement. This multi-functionality reduces the need for separate detection mechanisms, thereby limiting the increase in device complexity

Inventive Principle:

Principle #6Universality (Multi-functionality)

Data Source

PatentUS9585720B2Medical manipulator and treatment tool replacement method

Publication Date: 2017.03.07 OLYMPUS CORPORATION(JP)

AI summary

A medical manipulator includes: an operation member configured to drive so as to operate a treatment tool; a treatment tool side drive shaft configured to rotate about an axis thereof so as to drive the operation member; an operation amount detection member connected to the treatment tool; a treatment tool side detection shaft configured to rotate about an axis thereof in accordance with displacement of the operation amount detection member; a drive unit side drive shaft engaged with the treatment tool side drive shaft; a drive unit side detection shaft engaged with the treatment tool side detection shaft; a shape regulation section configured to regulate a shape of the treatment tool to a predetermined operation state; and a phase setting section configured to set phases in rotational directions of the treatment tool side drive shaft and the treatment tool side detection shaft.