Surgical Robot Multi-Stage Speed Reduction for Thinner Arms
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Solution Overview
Problem
Conventional surgical robots face challenges in size reduction and interference prevention due to the need for large electric motors to provide sufficient torque, leading to bulkier manipulator arms.
Innovation Solution
The surgical robot employs a multi-stage speed reduction system comprising a first and second speed reducer, along with gear parts, to reduce the rotation speed of electric motors, allowing the use of smaller motors while maintaining desired torque, thereby thinning the robot arm.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If a large electric motor is used to provide sufficient torque, then the desired torque to rotate the joint can be provided, but the robot arm becomes bulkier and larger in size
Solution Approach 1:
The speed reduction mechanism is divided into multiple stages: a first speed reducer, gear parts, and a second speed reducer. This segmentation allows the total speed reduction ratio to be achieved through multiple smaller components rather than one large component, enabling the use of a smaller electric motor while still providing the necessary torque at the joint.
Solution Approach 2:
The first speed reducer and second speed reducer act as intermediary components between the electric motor and the joint. These intermediaries amplify the torque by reducing the rotation speed in two stages, allowing a smaller motor to produce the equivalent torque that would otherwise require a larger motor.
2Device complexity
If a single speed reducer is used, then the structure is simpler, but the total gear ratio is limited and requires a larger motor
Solution Approach 1:
The speed reduction function is segmented into two separate speed reducers and gear parts, allowing the total gear ratio to be divided into two stages. This segmentation enables achieving a higher total gear ratio with smaller individual components, thereby reducing the overall device complexity while maintaining the necessary torque output.
Solution Approach 2:
The system uses two stages of speed reduction rather than a single fixed-ratio speed reducer. This dynamic approach allows for flexible gear ratio configuration where the first speed reducer and second speed reducer can be optimized independently, providing better overall system performance with reduced complexity.
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
This configuration enables the robot arm to be thinner without compromising torque, reducing interference and improving maneuverability in surgical environments.
Implementation Method 1
a first speed reducer configured to reduce a speed of rotation of the electric motor, and to provide the speed-reduced rotation
Implementation Method 2
a gear part configured to further reduce the speed of the rotation provided from the first speed reducer, and to provide the further-speed-reduced rotation
Implementation Method 3
a second speed reducer configured to reduce the further-speed-reduced rotation provided from the gear part
Data Source
AI summary
A surgical robot according to this disclosure includes the joint including an electric motor, a first speed reducer configured to reduce a speed of rotation of the electric motor, and to provide the speed-reduced rotation, a gear part configured to further reduce the speed of the rotation provided from the first speed reducer, and to provide the further-speed-reduced rotation, and a second speed reducer configured to reduce the further-speed-reduced rotation provided from the gear part.