Parallel Link Microsurgery Manipulator Error Reduction
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Solution Overview
Problem
Current surgical manipulators with serial link mechanisms are inadequate for microsurgery due to accumulated link movement errors, making precise motions difficult and limiting their commercial practicality for reducing surgeon burden in microsurgical procedures.
Innovation Solution
A fine work assistance system employing a master-slave manipulator with a parallel link mechanism providing multiple degrees of freedom, utilizing linear actuators and a hydraulic driving mechanism for precise motion control, and featuring a tip operation part that can be hydraulically driven to handle surgical instruments with high precision and safety, reducing the need for force sensors and simplifying sterilization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If a serial link mechanism is used in the slave manipulator to increase movable range, then the work area is expanded, but link movement errors accumulate and precision is degraded
Solution Approach 1:
The patent inverts the conventional serial link mechanism by adopting a parallel link mechanism where the end effector is supported by multiple links connected in parallel between a fixed base and the end effector. This inversion of the mechanical architecture eliminates error accumulation while maintaining large work area through the parallel support structure.
Solution Approach 2:
The patent replaces the mechanical serial link transmission system with a parallel link mechanism driven by linear actuators that directly move the links. This substitution of the mechanical drive architecture eliminates the cumulative errors inherent in serial mechanisms while preserving the ability to achieve large ranges of motion.
2Productivity
If a master-slave manipulator is introduced to reduce surgeon burden, then work efficiency is improved, but the complexity of the surgical system increases
Solution Approach 1:
The patent extracts the force sensing and control complexity from the slave manipulator by using a master unit with force sensors that directly control the parallel link mechanism. This extraction simplifies the slave unit while maintaining the master-slave teleoperation capability for reduced surgeon burden.
Solution Approach 2:
The master unit serves multiple functions: it provides the user interface for operation, contains force sensors for detecting manipulation forces, and generates control signals for the slave manipulator. This multi-functionality consolidates complexity in a single unit rather than distributing it across multiple components.
3Measurement precision
If force sensors are installed in the end effector for precise force control, then handling precision is improved, but the device complexity and sterilization difficulty increase
Solution Approach 1:
The patent uses the master unit as an intermediary that contains the force sensors instead of placing them in the end effector. The master unit's force sensors detect the user's manipulation forces and transmit this information through the control system to achieve precise force control without complicating the end effector structure or sterilization process.
Solution Approach 2:
The patent replaces the need for force sensors in the end effector by using a master manipulator with force sensing capabilities. This substitution moves the sensing function to the master unit, eliminating the complexity of integrating force sensors into the sterile end effector while maintaining precise force control through the master-slave connection.
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 enables precise and efficient remote operation for microsurgery by minimizing motion errors and reducing operator burden, allowing for accurate and safe handling of surgical instruments with high operability and ease of sterilization.
Implementation Method 1
an input mechanism that changes a fluid pressure of hydraulic fluid in response to a predetermined user operation... a hydraulic driving mechanism that produces the motion of the tip operation part for handling the work object or the work instrument
Implementation Method 2
the parallel link mechanism includes a plurality of linear actuators and linearly moves one end of each link using the linear actuators to move the end effector connected to the other end of each link
Data Source
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AI summary
A fine work assistance system is configured such that a parallel link mechanism is used for a slave manipulator activated by a master operation, and a precise motion for microsurgery or the like is performed by remote control. In a slave unit (20) of a master-slave manipulator, the parallel link mechanism with multiple degrees of freedom is used for a link mechanism in which an end effector (22) is movable with respect to a base (21). Moreover, a plurality of linear actuators (24) supported by the base (21) move one ends of links (23) so as to move the end effector (22), and the end effector (22) includes a tip operation part which is driving by a hydraulic driving mechanism. Therefore, the slave unit (20) is activated in response to a user operation on the master unit.