Multi-Plane Driving Wheel Assembly for Surgical Tool Manipulation
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Solution Overview
Problem
Current robotic systems for manipulating elongate surgical tools face challenges in compactly arranging and efficiently moving these tools within a surgical environment, particularly in providing a mechanism for linear and rotational movement that is both precise and minimally invasive.
Innovation Solution
A compact robotic device with a driving assembly comprising multiple pairs of driving wheels arranged on different planes, allowing for linear and rotational movement of elongate surgical tools, featuring adjustable wheel spacing and elastic elements for enhanced grip and traction, along with a connector system for fluid injection and tool manipulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If multiple pairs of driving wheels are arranged on different planes, then the device achieves compact arrangement and improved grip on elongate surgical tools, but the device complexity increases
Solution Approach 1:
The patent applies dimensionality change by arranging driving wheels on multiple planes (first plane and second plane that crosses the first plane) instead of a single plane. This three-dimensional arrangement allows the device to achieve compact volume while providing grip at multiple locations along the elongate surgical tool, resolving the contradiction between compact size and functional effectiveness.
Solution Approach 2:
The driving assembly is segmented into multiple pairs of driving wheels distributed across different planes. Each pair of wheels acts as an independent gripping element, allowing the system to maintain compact overall dimensions while providing distributed contact points along the surgical tool, thereby achieving both compactness and effective manipulation.
2Force
If driving wheels are positioned close together to improve grip, then traction on the surgical tool is enhanced, but the risk of wheel slippage increases
Solution Approach 1:
By distributing driving wheels across multiple planes rather than concentrating them in a single plane, the system enhances grip force through three-dimensional contact while reducing slippage risk. The spatial distribution across planes ensures that forces are applied at different locations along the tool, preventing concentrated stress points that could cause slippage.
Solution Approach 2:
Each pair of driving wheels on different planes provides localized grip at specific positions along the elongate surgical tool. This local quality approach ensures that grip force is distributed across multiple locations, enhancing overall traction while preventing slippage at any single critical point through redundant contact zones.
3Ease of operation
If the robotic device is made compact to minimize spatial interference, then ease of operation in surgical setting is improved, but the space for mechanical components is reduced
Solution Approach 1:
The patent utilizes three-dimensional space by arranging driving wheels on multiple planes within the housing. This vertical and lateral distribution of components allows the device to maintain a compact external footprint for ease of surgical operation while efficiently utilizing internal volume through multi-level component placement, resolving the contradiction between compactness and component space.
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 enables precise, efficient, and minimally invasive manipulation of elongate surgical tools, reducing the risk of slippage and improving traction, while maintaining a compact device design that minimizes spatial interference in the surgical setting.
Implementation Method 1
a plurality of elastic elements coupled to each of the at least one driving wheel of each pair, wherein a change in tension of each of the elastic elements moves the driving wheel between the first position and the second position
Data Source
AI summary
An assembly for driving movement of an elongate surgical tool, comprising:a plurality of adjacent pairs of driving wheels, each pair of driving wheels having a space therebetween such that spaces of the plurality of pairs of driving wheels are axially aligned to form a channel for the elongate surgical tool to extend through;wherein at least one pair of driving wheels out of the plurality of pairs is arranged to lie on a plane different than a plane on which at least one other pair of driving wheels lies.