Robotic Microsurgical Jointed Subassembly Friction Reduction
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Solution Overview
Problem
Current robotic surgical instruments face challenges in miniaturization due to friction and mechanical limitations, such as the use of actuation cables within guiding channels, which restricts positioning precision and increases the difficulty of fabricating and assembling small-scale joints, leading to mechanical weaknesses and inefficiencies in surgical procedures.
Innovation Solution
A robotic microsurgical assembly with a jointed subassembly comprising three links connected by clevis joints, where tendons contact surfaces avoid holes and pulleys, allowing for reduced part count and minimized friction, enabling miniaturization while maintaining structural integrity and precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If actuation cables are used within guiding channels, then the surgical instrument can be actuated, but friction increases and positioning precision decreases
Solution Approach 1:
The patent removes the guiding channels that previously constrained the tendons, allowing tendons to contact links directly at specific contact surfaces. This extraction eliminates the friction-generating interface between tendons and channel walls, directly reducing friction and improving positioning precision.
Solution Approach 2:
The patent replaces the cable-pulley-mechanism with a direct tendon-link contact system. Instead of using pulleys and channels to guide actuation elements, the design uses tendons that wrap around or contact specific surfaces on the links, eliminating mechanical friction points and reducing wear.
2Ease of manufacture
If traditional joints with holes and pulleys are used, then the surgical instrument can be actuated, but the number of parts increases and manufacturing complexity increases
Solution Approach 1:
The patent merges multiple separate components (holes, pulleys, guiding channels) into integrated tendon contact surfaces directly formed on the links. This consolidation reduces the total part count and simplifies manufacturing by eliminating the need for separate guiding components.
Solution Approach 2:
The links serve multiple functions: they provide structural support, define joint geometry, and provide tendon contact surfaces. This multi-functionality eliminates the need for separate guiding components, reducing part count and simplifying both manufacturing and assembly.
3Volume of moving object
If miniaturization is pursued, then the surgical instrument size is reduced, but friction and mechanical weaknesses increase
Solution Approach 1:
The patent replaces mechanical friction-based actuation (cables in channels) with a direct tendon-contact system that reduces friction. This substitution maintains structural integrity at small scales by eliminating stress concentration points associated with holes and pulleys, thereby improving reliability during miniaturization.
Data Source
AI summary
A robotic microsurgery assembly (1) includes at least one master tool (2) to detect a manual command; at least one slave manipulator (3); and at least one surgical instrument (70) operated on by the one slave manipulator (3). At least one control unit (4) receives at least a first command signal including information about the manual command and sends a second command signal to at least one actuator to control the slave manipulator (3). The surgical instrument includes at least one jointed subassembly (5). The jointed subassembly (5) includes a first link (6), a second link (7), and a third link (8). The first link structural body (9) and the second link structural body (10) have at least one tendon contact surface (18), avoiding the at least one tendon contact surface (18) being a hole surface.