Surgical Manipulator Right-Angle Drive Mechanism
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Solution Overview
Problem
Current surgical robotic systems face challenges with large size, weight, lack of haptic feedback, and inefficient tool exchange, which impact surgical precision, ergonomics, and operating room efficiency.
Innovation Solution
A surgical manipulator system incorporating compact right-angle drive mechanisms with bi-directional coupling using cables for zero-backlash transmission, enabling precise and efficient rotational motion transfer, and an end-effector design for automated tool exchange and haptic feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional right-angle drive mechanisms are used, then rotational motion can be transmitted between perpendicular axes, but the mechanism size and weight increase
Solution Approach 1:
The patent replaces conventional mechanical right-angle drive mechanisms (gears, belts) with a cable-driven system. Cables are routed through pulleys and guide structures to transmit rotational motion between perpendicular axes, eliminating heavy mechanical components while maintaining precision through cable tension control and pulley geometry
Solution Approach 2:
The patent uses flexible cables instead of rigid mechanical components to transmit motion. The cables are thin, lightweight, and can be routed through carefully designed pulleys and guides to achieve the required right-angle motion transmission, significantly reducing the weight and size of the drive mechanism
2Adaptability or versatility
If manual tool exchange is implemented, then surgical tools can be changed, but operating time increases
Solution Approach 1:
The patent implements an automated tool exchange system where the robotic manipulator autonomously performs tool changes without surgeon intervention. The system uses automated grippers and tool interfaces that enable the manipulator to exchange tools independently, eliminating manual intervention and reducing tool exchange time
Solution Approach 2:
The patent prepares multiple surgical tools in advance and positions them in ready-to-exchange configurations. The automated exchange system has pre-programmed sequences and pre-positioned tools, allowing rapid tool changes without requiring the surgeon to manually retrieve and attach each tool during the procedure
3Volume of moving object
If compact right-angle drive mechanisms are used, then system size is reduced, but transmission backlash increases
Solution Approach 1:
The patent replaces mechanical transmission components that inherently have backlash (gears, belts, chains) with a cable-driven system. Cables transmit force through tension without the clearance and play inherent in mechanical meshing components, eliminating backlash while maintaining compact dimensions through efficient cable routing
Solution Approach 2:
The patent changes the fundamental transmission parameter from mechanical engagement (with inherent clearance) to cable tension (which can be controlled to eliminate play). By adjusting cable tension and using precision pulleys, the system achieves zero-backlash transmission in a compact form factor
4Ease of operation
If haptic feedback is added, then surgeon performance is improved, but device complexity increases
Solution Approach 1:
The patent incorporates haptic feedback mechanisms that provide tactile information to the surgeon during manipulation. Sensors detect forces and positions, and this information is fed back through haptic actuators in the manipulator, allowing the surgeon to sense tissue properties and tool interactions, improving control precision through sensory feedback
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 system achieves compactness, high precision, reduced backlash, and efficient tool exchange, enhancing surgical precision and reducing operating time and costs while providing haptic feedback for improved surgeon performance.
Implementation Method 1
a first drive mechanism for rotating a first input pulley about a first input axis, wherein rotation of the first input pulley is translated into rotation of a first output pulley by the bi-directional coupling mechanism about a first output axis which is substantially perpendicular to the first input axis
Data Source
AI summary
The present invention provides a surgical manipulator including a manipulator arm, an end-effector held by the robotic arm, surgical tools held by the end-effector and manipulator joints, particularly right-angle drive devices for transmitting rotational motion in one axis to a perpendicular axis.