Punching Rig With Weight-Drop Crimping for Tendon Ferrules
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Solution Overview
Problem
Existing surgical robotic instruments face challenges in manufacturing cost-effective, reliable tendon attachments due to the complexity and size of crimping tools for capstan actuators, and the difficulty in attaching tendons to linear actuators under tension in tightly packed configurations.
Innovation Solution
A punching rig with a movable arm, a slidable punch, and a weight mechanism that allows precise and repeatable crimping of ferrules to tendons, utilizing a support bridge for consistent positioning and a weight drop mechanism to apply controlled force.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If capstan actuators are used for tendon attachment, then reliable crimping can be achieved, but the manufacturing cost increases and device complexity increases due to expensive small-scale manufacturing and complex coupling methods
Solution Approach 1:
The patent adopts disposable linear actuators that are manufactured more cost-effectively at scale. These actuators are designed for single-use in surgical procedures, eliminating the need for complex coupling mechanisms required by reusable capstan actuators. The disposable nature allows for simpler design while maintaining reliability through consistent manufacturing quality.
2Ease of manufacture
If linear actuators are used for tendon attachment, then manufacturing cost decreases, but the difficulty of attaching tendons increases due to tight packing and parallel positioning of actuators
Solution Approach 1:
The patent segments the tendon attachment process into distinct phases: first positioning the tendon alongside the linear actuator, then using a separate crimping tool to secure the ferrule. This segmentation allows the actuators to remain in their fixed parallel positions while enabling easy tendon attachment through the segmented steps, overcoming the difficulty of working in tightly packed configurations.
3Reliability
If known crimping tools are used for tendon attachment, then secure crimping can be achieved, but the tool size becomes too large and bulky to access tightly packed actuators
Solution Approach 1:
The patent employs a nested design where the crimping tool is compact and can be positioned within the tight spaces between parallel linear actuators. The tool's reduced size allows it to access the ferrules on tendons that are closely spaced, enabling secure crimping without requiring excessive clearance that would be needed for larger traditional crimping tools.
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
Enables efficient, repeatable, and secure crimping of ferrules to tendons, ensuring consistent attachment quality and reducing manufacturing variability in tendon-driven instruments.
Implementation Method 1
The weight may then be dropped so that it slides down the punch from the first end until it impacts the stop. On impacting the stop, the weight imparts a force to the punch which is transferred to the object via the second end.
Data Source
AI summary
A punching rig comprising: a base; an arm engageable with the base and movable relative to the base along a first axis, the arm comprising a chamber that extends along a chamber axis normal to the first axis; a punch slidably receivable within the chamber such that it extends along the chamber axis, which punch comprises a first end, a second end and a stop positioned between the first end and the second end; and a weight slidable along the punch between the first end and the stop.