Medical Manipulator With Segmented Artificial-Muscle Bending
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Solution Overview
Problem
Existing medical manipulator systems for hollow organs, such as endoscopes, are not efficiently used and do not facilitate effective treatment due to operational challenges.
Innovation Solution
A medical manipulator system with a flexible body, including a first and second bending portion driven by artificial muscles and wires, enhances maneuverability and treatment efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a medical manipulator system uses electrical driving for endoscope operation, then operator fatigue is reduced, but the system is not easily used and treatment efficiency is low
Solution Approach 1:
The manipulator is divided into multiple bending portions (first bending portion and second bending portion) that can be independently controlled by different actuation mechanisms (artificial muscle and wire), allowing segmented control of different sections to improve both ease of operation and treatment efficiency
Solution Approach 2:
The manipulator incorporates dynamic bending capabilities through artificial muscles that can change the curvature and shape of the flexible body in real-time, enabling adaptive navigation and improved operational ease while maintaining treatment efficiency
2Reliability
If the manipulator uses artificial muscle for bending, then kink-resistance and torque transmissivity are improved, but device complexity increases
Solution Approach 1:
The patent replaces traditional mechanical wire-based actuation with artificial muscle technology, which uses pneumatic or hydraulic actuation to achieve bending motion. This substitution improves reliability by eliminating kinking issues associated with wires while the modular integration keeps complexity manageable
3Force
If the manipulator uses artificial muscle for bending, then torque transmissivity is improved, but device complexity increases
Solution Approach 1:
The artificial muscle mechanism utilizes pneumatic or hydraulic pressure to generate bending forces with high torque transmissivity. The fluid pressure directly translates to mechanical force, providing superior torque transmission compared to traditional mechanical linkages, while the simplicity of fluid actuation helps manage overall device complexity
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 system allows for more efficient observation and treatment by improving kink-resistance, torque transmissivity, and pushability, enabling easier operation and use of larger treatment tools.
Implementation Method 1
an artificial muscle that bendably drives the first bending portion
Implementation Method 2
a wire that bendably drives the second bending portion
Data Source
AI summary
A medical manipulator includes a flexible body; an arm that includes a first bending portion and a second bending portion and that is disposed at a distal end of the flexible body; an artificial muscle that bendably drives the first bending portion; and a wire that bendably drives the second bending portion.