Surgical Tool Movement Detection via Pulley Amplification
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Solution Overview
Problem
Existing surgery support systems with remotely-controllable manipulators face challenges in accurately detecting the movement of treatment tools, particularly due to differences in stretching between driving and sensing wires, which can affect the precision of tool operations like jaw opening and closing during surgical procedures.
Innovation Solution
The system employs a configuration where the driving force transmission member and the movement detection member are arranged to maintain equal distances from a bending axis, with a support member fixing guide members to ensure the wires remain parallel and are not affected by bending, using pulleys and guide members to amplify movement detection precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If driving force transmission member and sensing wire are used to detect treatment tool movement, then the treatment tool can be remotely controlled, but differences in stretching between driving and sensing wires reduce measurement precision
Solution Approach 1:
The patent introduces a pulley system as an intermediary mechanism between the driving force transmission member and the sensing wire. The pulley converts the linear movement of the treatment tool into rotational movement, which is then transmitted to the sensing wire. This mediation ensures that the sensing wire accurately reflects the treatment tool's movement without being affected by stretching differences, thereby maintaining measurement precision while enabling remote control.
2Adaptability or versatility
If wires are arranged in a bending portion during treatment tool movement, then flexibility is improved, but wire stretching and bending affect detection accuracy
Solution Approach 1:
The patent transitions the sensing mechanism from a linear wire arrangement to a rotational arrangement around a pulley. By changing the dimension of movement detection from linear to rotational, the system accommodates the bending and flexibility requirements of the treatment tool while maintaining accurate detection. The rotational movement of the pulley accurately reflects the treatment tool's movement regardless of wire stretching or bending in the flexural portion.
3Measurement precision
If pulleys of different diameters are used to amplify movement detection, then detection precision is improved, but device complexity increases
Solution Approach 1:
The patent utilizes the parameter of pulley diameter to achieve movement amplification. By selecting pulleys with different diameters, the system can amplify the detected movement without complex mechanisms. The larger pulley diameter provides greater rotational movement for the same linear displacement, enhancing detection precision while maintaining relatively simple device structure through parameter optimization rather than structural 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 enhances the precision of detecting the movement of treatment tools, ensuring accurate operation of surgical instruments by minimizing the impact of wire stretching and bending on movement detection, thereby improving surgical precision.
Implementation Method 1
the member for detecting amount of movement may be fixed to a position on the connecting member which is separated from the predetermined support point by a second distance greater than the first distance
Data Source
AI summary
A treatment tool of which a treatment unit operates with a driving force generated from a driving source includes a driving force transmission member that is connected to the driving source, a connecting portion that is formed in the treatment unit, that is connected to the driving wire, that is supplied with the driving force from the driving source via the driving force transmission member, and that converts the driving force into movement of the treatment unit, and a member for detecting amount of movement that is moved by the connecting portion.