Microsurgical-robot power mechanism and setting method for instrument origin initialization thereof
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Solution Overview
Problem
Conventional methods for determining mechanical engagement status in microsurgical instruments face challenges due to their small size and low operating forces, leading to inaccurate position determination and potential false engagements, which hinder the application of robotic technologies in microsurgery.
Innovation Solution
A microsurgical-robot power mechanism with drive motors, turntables, and an engagement determination mechanism using encoders and sensors to accurately determine the engagement status of connecting turntables with motor turntables, incorporating a limiting support bracket to prevent excessive rotation and ensure precise power transmission.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional torque or current detection methods are used to determine mechanical engagement status, then the detection dimension is limited, but false determination occurs due to improper threshold selection in microsurgical scenarios
Solution Approach 1:
The patent introduces an intermediary mechanism (limiting support bracket with stopper and limiting protrusion) that physically mediates the engagement detection process. This intermediary structure converts the subtle engagement status into a clear mechanical state (contacted/not contacted) that can be reliably detected, eliminating the need for threshold-based detection and thus resolving the contradiction between measurement precision and determination reliability.
Solution Approach 2:
The patent replaces the conventional electrical detection methods (torque, current) with a mechanical detection system (limiting support bracket, stopper, limiting protrusion). This mechanical substitution provides a more reliable and threshold-free method for detecting engagement status in microsurgical instruments, simultaneously improving both measurement precision and determination reliability.
2Manufacturing precision
If the instrument size is reduced to microsurgical scale, then operational precision requirement increases, but the operating force becomes extremely small making conventional detection methods ineffective
Solution Approach 1:
The patent segments the detection function into two parts: the limiting support bracket provides mechanical constraint and amplification, while the engagement determination mechanism provides detection. This segmentation allows the system to overcome the extremely small operating forces in microsurgery by using the mechanical structure to amplify and clarify the detection signal, thereby achieving high position determination accuracy.
Solution Approach 2:
The limiting support bracket acts as a mechanical intermediary that amplifies the subtle engagement status caused by extremely small operating forces. By introducing this intermediary structure, the system can reliably detect engagement status even when the operating force is too small for conventional detection methods, thus resolving the contradiction between manufacturing precision and operating force.
3Device complexity
If no physical constraint mechanism is used, then the system complexity is reduced, but false determination and misoperations occur due to inaccurate engagement detection
Solution Approach 1:
The limiting support bracket with stopper and limiting protrusion provides a self-service mechanical constraint that automatically indicates engagement status through its own structure. The bracket itself serves as both the constraint mechanism and the detection element, eliminating the need for complex external detection systems while ensuring reliable engagement detection and preventing false determination.
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 mechanism provides stable and repeatable reference points for accurate positioning, reducing operational errors and enhancing precision and reliability in microsurgical operations by ensuring proper instrument engagement and preventing misoperations.
Implementation Method 1
The output shaft of each of the several drive motors is respectively assembled and connected to one motor turntable; and the motor turntable is assembled and connected to the connecting turntable through the intermediate turntable
Implementation Method 2
the limiting support bracket is provided with a stopper, and when rotated to a certain angle, the connecting turntable is in contact with the limiting protrusion, such that rotation of the connecting turntable is blocked
Data Source
AI summary
Provided are a microsurgical-robot power mechanism and a setting method for instrument origin initialization thereof. The power mechanism includes a plurality of drive motors, a plurality of motor turntables, intermediate turntables and connecting turntables, where an output shaft of each of the drive motors is connected to the motor turntable, and the motor turntable is connected to the connecting turntable through the intermediate turntable. The connecting turntable is provided with a limiting protrusion mated with a stopper on a limiting support bracket, and when rotated to a preset angle, the connecting turntable is in contact with the limiting protrusion so as to block rotation. The power mechanism is further provided with an engagement determination mechanism configured to determine an engagement status of the connecting turntable with the motor turntable or the intermediate turntable.