Piezoelectric Actuator with Parallel Eccentric Gear Train
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Solution Overview
Problem
Current laparoscopic actuators lack the necessary dexterity, precision, force levels, smoothness, and MRI compatibility to effectively support surgical applications, with existing miniaturized technologies failing to meet the demands of high-accuracy and high-stiffness requirements in surgical procedures.
Innovation Solution
The development of a laparoscopic manipulator using a parallel eccentric gear train driven by a piezoelectric assembly with a mechanical amplifier, incorporating a compliant mechanical amplifier and simplified parallel eccentric (SPE) actuators, which provide high dexterity, precision, and force levels while being MRI-compatible, and featuring exceptional gear reducers with reduced weight and cost.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If cable-driven systems with multiple pulleys are used for laparoscopic actuators, then the system can achieve basic motion control, but friction increases and sterilization becomes difficult
Solution Approach 1:
The patent replaces cable-driven mechanical systems with direct-drive piezoelectric actuators. The piezoelectric elements convert electrical signals directly to mechanical motion, eliminating cables, pulleys, and associated friction. This substitution resolves the contradiction by maintaining motion control capability while removing the friction losses inherent in cable-driven systems.
2Volume of moving object
If traditional miniaturized actuators are used, then the actuator size is reduced, but dexterity, precision, and force levels become insufficient
Solution Approach 1:
The patent changes the fundamental operating parameters of miniaturized actuators by using piezoelectric materials that provide high force density at small scales. The piezoelectric effect enables precise control of displacement and force in miniaturized form factors, resolving the contradiction between small size and high precision/force performance that plagues traditional miniaturized actuator designs.
3Ease of operation
If conventional actuators are used for laparoscopic surgery, then basic actuation is achieved, but MRI compatibility is lost
Solution Approach 1:
The patent replaces conventional electromagnetic or motor-driven actuators with piezoelectric actuators. Piezoelectric materials are inherently MRI-compatible as they do not contain ferromagnetic components or generate electromagnetic interference. This substitution maintains full actuation capability while eliminating MRI interference, resolving the contradiction between actuation performance and MRI compatibility.
4Volume of moving object
If existing miniaturized actuator technologies are used, then size reduction is achieved, but weight becomes insufficiently low for surgical applications
Solution Approach 1:
The patent employs piezoelectric ceramic elements combined with lightweight structural materials and compliant mechanisms to create miniaturized actuators with exceptionally low weight. The composite construction using piezoelectric materials and optimized structural design achieves both small volume and minimal weight, resolving the contradiction between size reduction and weight reduction for surgical applications.
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 actuators that are highly responsive, accurate, and capable of generating high forces with minimal backlash, allowing for real-time data feedback and improved surgical performance, significantly surpassing existing technologies in terms of torque density and efficiency.
Implementation Method 1
a prime mover having an assembly of piezoelectric elements which drives said gear train and which forms a mechanical amplifier
Data Source
AI summary
An actuator is provided which includes a parallel eccentric gear train, a prime mover having an assembly of piezoelectric elements which drives the gear train and which forms a mechanical amplifier, and a crankshaft which is driven by the parallel eccentric gear train.