Retrieval End Effector With Bias-Controlled Grasping Force
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Solution Overview
Problem
Existing retrieval devices are limited in their ability to capture and release objects due to size constraints and are prone to breakage, requiring additional devices for large objects, and lack efficient force control mechanisms.
Innovation Solution
A retrieval device with a sheath and end effector that includes a movable member and support member, controlled by a biasing member and actuation mechanism, allowing for adjustable force exertion and transition between extended and retracted states, enhancing the device's capability to grasp and release objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the end effector is made larger to retrieve bigger objects, then the retrieval capability is improved, but the device becomes more prone to breakage and requires additional devices for assistance
Solution Approach 1:
The end effector is designed with movable arms that can transition between extended and retracted states. When extended, the arms provide a larger capture area for big objects; when retracted, the arms reduce the overall size for safer removal. This dynamic configuration allows the device to adapt its size according to the retrieval needs while maintaining reliability through controlled deployment.
2Force
If the end effector arms are made more robust to increase grasping force, then the grasping capability is improved, but the device complexity and risk of breakage increase
Solution Approach 1:
A biasing member is introduced as an intermediary element between the actuation member and the end effector arms. This biasing member provides controlled force to the arms, enabling them to exert sufficient grasping force on objects without requiring the arms themselves to be overly robust or complex. The biasing member absorbs the mechanical stress, protecting the arms from breakage while maintaining effective grasping capability.
3Productivity
If the end effector is kept in extended state for better object capture, then the capture efficiency is improved, but the device size increases and may cause damage
Solution Approach 1:
The end effector arms are designed to be dynamically adjustable between extended and retracted states. They can be extended when needed for object capture to maximize capture efficiency, and then retracted when the capture is complete or when passing through narrow passages to minimize damage risk. This on-demand extension/retraction capability allows the device to optimize its size according to the operational context.
Solution Approach 2:
The biasing member is pre-configured to automatically retract the end effector arms when the actuation member is released. This preliminary action ensures that the arms are pulled back to a safe configuration before the device is fully deployed or when encountering potential damage scenarios, preventing harmful effects without requiring active control input from the operator.
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 device provides improved object retrieval capabilities by allowing controlled force application and preventing damage through adjustable states, facilitating safe and efficient capture and release of objects.
Implementation Method 1
a biasing member coupled to at least one of the actuation member and the sheath. The biasing member may control a force exerted by one of the movable member and the support member on the other of the movable member and the support member. The force may be generated by relative movement between the movable member and the support member.
Data Source
AI summary
A retrieval device may include a sheath including a distal end and a proximal end, and an end effector at the distal end. At least a portion of the end effector may be movable relative to the sheath between extended and retracted states. The end effector may include a support member extending from the distal end of the sheath, and a movable member extending from the distal end of the support member. The device may include a handle assembly at the proximal end of the sheath, having an actuation member for transitioning the end effector between the extended and retracted states. The device may include a biasing member coupled to at least one of the actuation member and the sheath that may control a force, exerted by one of the movable members and the support member on the other, generated by relative movement between the movable and support members.