Parallel Manipulator End Platform Force Isolation
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Solution Overview
Problem
The existing medical devices with parallel manipulators face challenges in precision due to additional weight and force applied by motors mounted at the end platform, affecting response time and precision during surgical operations.
Innovation Solution
A medical device design incorporating a transmission shaft with a pliable rod and a shaft motor, where the transmission shaft is rotatably supported by the end platform, and a sensor system to minimize force influence on the end platform, utilizing a pliable rod to transfer mechanical force efficiently and a shaft motor to drive the transmission shaft, while a sensor system measures and adjusts forces applied during surgery.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a motor is mounted at the end platform to control the surgical tool, then the surgical tool can be controlled with high accuracy and dexterity, but the additional weight and force affect the response time and precision of the end platform
Solution Approach 1:
The motor is separated from the end platform and mounted on the base platform instead. The transmission shaft transmits rotational motion from the base platform motor to the end platform, allowing the end platform to remain lightweight while still achieving precise control of the surgical tool through segmented functional distribution.
Solution Approach 2:
The transmission shaft acts as an intermediary element between the base platform motor and the end platform. It transmits mechanical force and rotational motion without requiring the motor to be directly mounted on the end platform, thereby eliminating the harmful weight and force effects on end platform precision while maintaining control capability.
2Productivity
If a motor is mounted at the end platform to drive the surgical tool, then the surgical operation can be performed, but the additional force applied to the end platform reduces response time
Solution Approach 1:
The motor is segmented from the end platform and relocated to the base platform. The transmission shaft segments the motion transmission path, allowing the end platform to respond quickly to commands without the inertia and force effects of a mounted motor, thus reducing response time while maintaining surgical operation capability.
Solution Approach 2:
The transmission shaft serves as a mediator that transmits rotational motion and force from the base platform to the end platform efficiently. This intermediary transmission mechanism enables rapid response at the end platform without the delay caused by motor mounting, as the motor is positioned optimally on the base platform for faster actuation.
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
This design enhances precision and minimizes the impact of additional weight and force on the end platform, improving response time and precision in surgical operations by effectively transferring mechanical force and monitoring forces applied during procedures.
Implementation Method 1
a pliable rod coupled to the transmission yoke
Implementation Method 2
a transmission shaft rotatably supported by the end platform, the transmission shaft having a transmission yoke configured to transfer mechanical force to the receiving yoke
Data Source
AI summary
A medical device is provided. The medical device includes an adaptor, a parallel manipulator, a shaft motor, a transmission shaft and a force transducer. The force transducer is disposed between the adaptor and an end platform of the parallel manipulator, and the force transducer has a through hole. The receiving shaft of the adaptor meets the transmission shaft in the through hole to receive the mechanical force from the transmission shaft to manipulate movement of the surgical tool.