Torque Transducer for Robotic Surgical Assemblies
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Solution Overview
Problem
Robotic surgical systems face challenges in precisely controlling and measuring the forces applied by drive motors, which affects the precision and longevity of surgical devices, and there is a need to limit forces experienced by drive cables and accurately predict the life expectancy of drive motors and mechanisms.
Innovation Solution
The implementation of torque transducers that can measure torque both when the drive motors are active and inactive, allowing for precise control and feedback in surgical devices, and are integrated into a sterile interface module to manage rotational and translational forces, electrical signals, and provide feedback for various surgical functions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If torque transducers are integrated into the sterile interface module to measure torque when drive motors are active and inactive, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The torque transducer is integrated into the sterile interface module, combining the motor mounting function with torque measurement capability. The transducer becomes part of the structural assembly that couples the drive motor to the surgical instrument, eliminating the need for separate measurement devices and reducing overall system complexity despite adding measurement functionality.
Solution Approach 2:
The sterile interface module serves multiple functions: it maintains the sterile barrier, transmits rotational and translational forces, transmits electrical signals, and now also measures torque through the integrated transducer. This multi-functionality reduces the need for additional components and simplifies the overall system architecture.
2Reliability
If torque transducers are used to precisely control and monitor drive motors, then reliability is improved, but device complexity increases
Solution Approach 1:
The torque transducer provides real-time feedback on motor torque output, enabling the control system to monitor and adjust motor performance. This feedback mechanism allows for precise control, prediction of motor life expectancy, and prevention of overload conditions, thereby improving system reliability through informed decision-making.
Solution Approach 2:
The torque transducer measures torque both when motors are active and inactive, allowing the system to establish baseline pretension values and detect changes before they lead to failures. This preliminary monitoring enables predictive maintenance and prevents catastrophic failures by identifying issues early in their development.
3Duration of action of stationary object
If torque transducers measure pretension in drive cables and limit forces, then drive cable life is extended, but device complexity increases
Solution Approach 1:
The torque transducer enables the system to establish and maintain appropriate pretension levels in drive cables before excessive forces develop. By continuously monitoring torque and comparing it against predefined thresholds, the system can take preventive action to limit forces that would otherwise exceed cable承受能力, thereby extending cable life through proactive force management.
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 solution enhances the precision and control of surgical devices, extends their life by accurately monitoring forces and wear, and prevents damage by providing real-time feedback and load management, thereby improving the fidelity and reliability of surgical procedures.
Implementation Method 1
The torque transducer includes a strain gauge disposed on the torque transducer and configured to detect flexation of the torque transducer
Implementation Method 2
The body is configured to flex in response to the mounting flange and the motor flange rotating relative to one another in response to torque of the drive motor
Data Source
AI summary
A torque transducer for mounting a motor includes a mounting flange, a motor flange, a body, and a strain gauge. The mounting flange is configured to secure the torque transducer to a fixed structure. The motor flange is configured to secure to a motor. The body interconnects the mounting and motor flanges. The body defines a channel about a longitudinal axis of the body and is configured to flex in response to the mounting flange and the motor flange rotating relative to one another in response to torque of the motor. The strain gauge is positioned on the body to measure flexation of the body.