Surgical Robot Grip Input With Magnetic Angle Sensing
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Solution Overview
Problem
Existing medical surgical robots face inaccuracies in measuring the rotation angle of rotating units due to gaps in bevel gears and non-linear variations in magnetic field intensity, requiring additional sensors for angle calibration in grip mechanisms.
Innovation Solution
An input device with a magnetic element and detection components that detect both magnetic field direction and intensity, allowing for direct measurement of included angles and rotation angles using a single magnetic element and simplified encoder system, reducing the need for multiple sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a Hall sensing chip and magnetic element are used to detect the included angle in the grip mechanism, then the angle can be detected without additional sensors, but the non-linear variation of distance between the magnetic element and Hall sensing chip causes non-linear change in magnetic field intensity, making direct angle detection inaccurate
Solution Approach 1:
The patent introduces an encoder as an intermediary device to measure the included angle directly through mechanical coupling of the grip mechanism members. The encoder provides a linear relationship between the measured signal and the included angle, eliminating the non-linearity issue inherent in magnetic field-based detection methods.
Solution Approach 2:
The patent replaces the magnetic field-based detection system (Hall sensing chip and magnetic element) with a mechanical encoder system. This substitution provides more accurate and linear angle measurement by directly coupling the encoder to the grip mechanism members, avoiding the non-linear magnetic field variations.
2Ease of operation
If bevel gears are used to transmit rotation angle, then the rotation can be measured by an encoder, but the gap between bevel gears causes difference between measured angle and actual rotation angle
Solution Approach 1:
The patent removes the bevel gear transmission mechanism from the angle measurement system. By directly coupling the encoder to the rotating unit without intermediate bevel gears, the source of measurement error (gear gap) is eliminated, and accurate rotation angle measurement is achieved.
3Measurement precision
If additional sensors are used for angle calibration in the grip mechanism, then measurement accuracy can be improved, but device complexity and cost increase
Solution Approach 1:
The patent makes the encoder serve multiple functions: it simultaneously measures both the included angle of the grip mechanism and the rotation angle of the rotating unit. This multi-functionality eliminates the need for separate sensors for each measurement, reducing device complexity while maintaining high measurement accuracy.
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
Accurately detects included and rotation angles with improved precision and reduced complexity, enhancing the accuracy and stability of surgical robot control.
Implementation Method 1
a magnetic element and detection components, which detect a magnetic field direction and a magnetic field intensity of the magnetic element
Data Source
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AI summary
The present disclosure discloses an input device and a surgical robot. The input device includes a mounting base, a rotation support, a grip mechanism, a connection member, a magnetic element and at least one first detection component. The rotation support is rotatable around a first central axis relative to the mounting base. The grip mechanism is disposed on the rotation support, and is capable of being elastically opened and closed relative to the rotation support. The connection member is connected with the grip mechanism, and is movable in a direction parallel to the first central axis with an opening and closing action of the grip mechanism. The magnetic element is disposed on the rotation support or the connection member. The at least one first detection component is disposed on the mounting base, and is configured to detect a magnetic field direction of the magnetic element. According to the input device of the present disclosure, the magnetic element can deflect relative to the first detection component along with the rotation of the rotation support, the first detection component can detect a change of the magnetic field direction, and a rotation angle of the rotation support can be obtained by means of data calculation.