Surgical Tool Conversion Mechanism for Force Estimation
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Solution Overview
Problem
Current surgical tools for medical robots face challenges in maintaining accuracy and operability due to changes in size, leading to fluctuations in signal-to-noise ratio and resolution, which complicates the estimation of external forces and affects the stability and safety of robot-assisted surgeries.
Innovation Solution
The surgical tool incorporates a conversion portion that adjusts the movement and force transmission based on the size of the treatment portion, allowing for a customizable conversion ratio to maintain consistent operation and accuracy, featuring a power transmission portion, driven portion, and a body that supports these components.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If the size of the treatment portion is changed to meet low invasiveness requirements, then the degree of invasiveness to patients is reduced, but the S/N ratio and resolution vary, affecting the accuracy in estimating external force
Solution Approach 1:
The patent applies parameter changes by introducing a conversion ratio that adjusts the relationship between actuator movement and treatment portion movement. By changing the conversion ratio parameter, the system can compensate for variations in S/N ratio and resolution that occur when the treatment portion size is changed, thereby maintaining accurate external force estimation across different surgical tool configurations
Solution Approach 2:
The conversion portion acts as an intermediary mechanism between the actuator and the treatment portion. This intermediary converts the actuator's linear movement into rotational movement of the lever arm with a customizable conversion ratio, allowing the system to maintain optimal S/N ratio and resolution regardless of the treatment portion size, thus preserving measurement precision while enabling miniaturization
2Volume of moving object
If the size of the treatment portion is changed, then miniaturization is achieved, but the amount of operation and force generated in the treatment portion vary, affecting operability
Solution Approach 1:
The patent uses parameter changes by allowing the conversion ratio to be adjusted based on the treatment portion size. When the treatment portion is miniaturized, the conversion ratio can be modified to compensate for changes in operational characteristics, ensuring that the amount of operation and force generated remain within optimal ranges for smooth and stable handling
Solution Approach 2:
The system implements dynamics by making the conversion ratio adjustable rather than fixed. This allows the mechanical transmission characteristics to be dynamically adapted to match different treatment portion sizes, ensuring consistent operability whether the surgical tool is large or miniaturized for low-invasiveness procedures
3Measurement precision
If the conversion ratio is customized based on treatment portion size, then accuracy in estimating external force is maintained, but the device complexity increases
Solution Approach 1:
The patent manages device complexity by implementing parameter changes through a mechanical conversion ratio rather than requiring complex electronic sensors or computational systems. The conversion ratio is determined by the geometric parameters of the lever arm and conversion portion, allowing accuracy in external force estimation to be maintained through simple mechanical design rather than complex instrumentation
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 enhances the accuracy and safety of surgical operations by stabilizing the estimation of external forces and improving the learning curve for operators, while reducing the burden on doctors and improving patient quality of life.
Implementation Method 1
a conversion portion configured to convert an amount of movement of the driven portion in the linear motion direction to transmit the amount of movement converted to the power transmission portion
Implementation Method 2
a lever arm which is supported by a pivot between a first end and a second end
Data Source
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AI summary
Provided is a surgical tool with which it is possible to inhibit deterioration in operability and accuracy in estimating an external force due to a change in size of the surgical tool. The surgical tool includes a driven portion 21 configured to move upon receipt of an external driving force for moving in a linear motion direction, a power transmission portion 51 configured to transmit the driving force for moving in the linear motion direction to a treatment portion configured to perform a medical treatment, a conversion portion 31 configured to convert an amount of movement of the driven portion 21 in the linear motion direction to transmit the amount of movement converted to the power transmission portion 51, and a body 10 storing therein the driven portion 21 and the conversion portion 31 and supporting the treatment portion.