Surgical Adapter Universal Joint Speed Compensation
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Solution Overview
Problem
Existing surgical adapter assemblies experience variations in rotational velocity across articulating joints, leading to non-uniform force application and jolting feedback, which complicates the operation of electromechanical surgical devices and increases system complexity and cost.
Innovation Solution
A surgical system with a universal joint and a correction unit that adjusts the motor speed based on articulation angle and rotational position to maintain a constant output shaft speed, using sensors like accelerometers and encoders to measure and compensate for these variations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a universal joint is used to transmit rotational motion across an articulating joint, then the end effector can articulate relative to the adapter assembly, but variations in rotational velocity occur following a sinusoidal profile
Solution Approach 1:
A sensor detects the actual rotational velocity of the output shaft, and this information is fed back to a controller that adjusts the motor speed in real-time to compensate for the sinusoidal velocity variations introduced by the universal joint, maintaining constant output shaft speed
Solution Approach 2:
The motor speed parameter is dynamically changed based on the detected articulation angle and universal joint position, allowing the system to pre-compensate for the velocity variations that will occur as the end effector articulates
2Speed
If additional couplings are used to cancel out variations in rotational velocity, then rotational velocity uniformity is improved, but device complexity increases
Solution Approach 1:
The mechanical coupling system is replaced with an electrical control system that uses a sensor to detect velocity variations and a motor controller to compensate for them, eliminating the need for complex mechanical coupling arrangements
3Speed
If expensive, more complex couplings that transmit rotational motion linearly are used, then rotational velocity uniformity is improved, but device cost and complexity increase
Solution Approach 1:
Complex mechanical couplings are replaced with a control system that uses electronic feedback to achieve linear rotational motion transmission, simplifying the mechanical structure while maintaining performance
Solution Approach 2:
The motor speed parameter is dynamically adjusted based on feedback from velocity sensors, allowing the system to compensate for non-linear motion without requiring complex mechanical couplings
Data Source
AI summary
A surgical system includes a power source, a handle housing, a motor, an adapter assembly, an end effector, and a correction unit. The motor is disposed within the handle housing and is in electrical communication with the power source. The adapter assembly is operably coupled to the handle housing and supports an input and an output shaft coupled by the universal joint. The input shaft is in mechanical communication with the motor. The end effector is coupled to the adapter assembly and is selectively articulatable relative to the adapter assembly. The correction unit is in electrical communication with the power source and the motor and is configured to adjust the input shaft speed of the input shaft to maintain a substantially constant output shaft speed of the output shaft as the end effector articulates relative to the adapter assembly.