Torque-Adjusting Drive Mechanism for Propellable Devices
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Solution Overview
Problem
Drive mechanisms for self-propelled devices, such as endoscope systems, often result in undesired external torque due to the rotation of driveshafts, which can cause unwanted rotation and discomfort or injury, especially when navigating through body cavities.
Innovation Solution
A torque-canceling or torque-adjusting drive mechanism using two or more flexible driveshafts that rotate in opposing directions, with an electrical control unit applying equal drive torques to each shaft, allowing for controlled orientation and minimizing net external rotation by canceling out drive-based torques, and optionally utilizing additional driveshafts or non-rotating elements to enhance mechanical power delivery and prevent net rotation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If a single driveshaft is used to drive the propellable device, then mechanical power is delivered to the device, but undesired external torque causes unwanted rotation and potential injury
Solution Approach 1:
The single driveshaft is segmented into multiple driveshafts (at least two) that operate in parallel. Each driveshaft delivers mechanical power to the propellable device through separate drive mechanisms, allowing the system to maintain power delivery while distributing and canceling out external torque effects through opposing rotation directions.
Solution Approach 2:
The patent applies counter-torque by rotating at least one driveshaft in the opposite direction to others. The external torques generated by each driveshaft act as counterweights to each other, canceling out the net external torque on the propellable device while maintaining the mechanical power delivery needed for propulsion.
2Object-affected harmful factors
If multiple driveshafts rotate in opposing directions to cancel torque, then external torque is minimized, but device complexity increases
Solution Approach 1:
Each driveshaft system is designed to perform multiple functions simultaneously: delivering mechanical power to the propellable device and generating counter-torque to cancel external torque effects. This multi-functionality reduces the need for separate torque cancellation mechanisms, thereby limiting the increase in device complexity.
Solution Approach 2:
The patent merges the power delivery function and torque cancellation function into a single integrated drive mechanism system. The multiple driveshafts are combined into one coordinated system where power transmission and torque balancing occur simultaneously through the same mechanical components, rather than requiring separate systems for each function.
3Power
If driveshafts are made rigid to improve power transmission, then mechanical power delivery is enhanced, but lateral deflection and injury risk increase during navigation
Solution Approach 1:
The patent employs flexible driveshafts that can bend and deflect laterally without breaking. These flexible driveshafts maintain sufficient mechanical power transmission capability while allowing lateral deflection to occur without causing injury to surrounding tissues during navigation through body cavities.
Solution Approach 2:
The patent changes the physical parameter of driveshaft rigidity from high (rigid) to low (flexible). This parameter change allows the driveshaft to accommodate lateral deflection during navigation while still transmitting mechanical power effectively, thereby reducing the risk of injury caused by rigid structures.
Data Source
AI summary
A drive mechanism includes a drive assembly including a driven element, a first driveshaft, configured to be engaged with the drive assembly, the first driveshaft configured to rotate in a first direction and relate a first assembly torque to the drive assembly and a first drive torque to the driven element, and a torque adjusting mechanism operatively engaged with the drive assembly and configured to relate a second assembly torque, opposite in direction to the first assembly torque, to the drive assembly.