Motor Module Rack-and-Pinion Coupling for Sterile Surgical Alignment
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Solution Overview
Problem
Existing surgical robotic systems face challenges in the intricate mechanical coupling of motor modules to driver modules due to the need for rotational actuations and sterile barriers, which complicates the alignment and increases production costs and time, particularly for disposable surgical instruments.
Innovation Solution
A motor module utilizing an antagonistic rack and pinion mechanism that converts rotational movement to translational movement, simplifying the mechanical coupling by eliminating the need for rotational actuation and allowing for a more straightforward alignment with a driver module, thereby reducing complexity and cost.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If rotational actuation mechanisms are used to couple motor module to driver module, then actuation function is achieved, but mechanical coupling complexity increases and alignment difficulty increases
Solution Approach 1:
The patent replaces the traditional rotational actuation mechanism with a translational linear actuation mechanism. The motor module generates linear motion that directly actuates the surgical instrument, eliminating the need for complex rotational-to-translational conversions and improving mechanical coupling simplicity.
Solution Approach 2:
Instead of using rotational motors that require rotational actuation, the patent inverts the approach by using a translational actuation system where linear motion is generated directly. This inversion simplifies the mechanical coupling and alignment requirements between the motor module and driver module.
2Reliability
If sterile barrier is implemented between motor module and driver module, then sterility is maintained, but production cost increases and assembly time increases
Solution Approach 1:
The patent extracts the sterile barrier requirement from the mechanical coupling interface. By using translational actuation, the system allows the driver module to be disposable and pre-sterilized, while the motor module remains outside the sterile field. This eliminates the need for complex sterile barriers at the coupling interface.
Solution Approach 2:
The system is segmented into a non-sterile motor module and a sterile disposable driver module. The translational actuation mechanism enables this segmentation by allowing the driver module to be a separate, disposable component that can be pre-sterilized without affecting the motor module.
3Manufacturing precision
If rotational actuation with alignment requirements is used, then actuation precision is achieved, but production time increases
Solution Approach 1:
The patent replaces rotational actuation with translational actuation, which has inherently simpler alignment requirements. Linear motion components can be aligned more quickly and with less precision during assembly, thereby increasing production speed while maintaining adequate actuation precision.
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 solution simplifies the mechanical coupling process, reduces production costs, and allows for disposable driver modules, enhancing efficiency and ease of use for medical staff by providing a more straightforward alignment mechanism.
Implementation Method 1
A motor module utilizing an antagonistic rack and pinion mechanism that converts rotational movement to translational movement
Data Source
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AI summary
A motor module comprising a primary pinion rotatably driveable by a primary motor, a first primary rack moveably engageahle with the primary pinion and a second primary rack moveably engageab!e with the primary pinion. Rotation of the primary pinion causes movement of the first primary rack in a first direction, and movement of the second primary rack in a second direction, whereby the first and second primary racks and the primary pinion together form an antagonistic rack and pinion mechanism.