Wire-Driven Manipulator Guide Structure for Reproducible Bending
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
The flexible members in existing endoscope manipulators slide frictionally with respect to spacer members, leading to shifts in relative positions and impairing driving reproducibility, which affects the accuracy of controlling the manipulator's posture.
Innovation Solution
A wire-driven manipulator design where flexible members are fixed to spacer members through adhesion, pinning, or screwing, and guided by members with low friction, ensuring consistent relative positions and improved control accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If flexible members slide frictionally with respect to spacer members, then the structure allows movement and bending, but the relative positions shift and driving reproducibility deteriorates
Solution Approach 1:
A guide member is introduced as an intermediary component between the flexible member and spacer member. The guide member has a guide hole through which the flexible member passes, constraining the flexible member's movement path while allowing sliding. This intermediary structure prevents lateral displacement and maintains consistent relative positions, improving driving reproducibility without compromising bending capability
Solution Approach 2:
The manipulator is divided into discrete segments (spacer members) along its length, with each segment containing a guide member. This segmentation allows the flexible member to slide within controlled intervals while maintaining overall structural integrity and positional consistency across multiple segments
2Reliability
If flexible members are fixed to spacer members, then driving reproducibility improves, but the manipulator loses flexibility and bending capability
Solution Approach 1:
The guide member creates a dynamic constraint system where the flexible member is guided but not fixed. The guide hole provides lateral constraint while allowing axial sliding motion, enabling the system to adapt its degree of freedom based on operational needs - maintaining positional consistency during operation while preserving bending capability
3Measurement precision
If guide members with low friction are used, then driving accuracy improves, but manufacturing complexity increases
Solution Approach 1:
The guide member is designed as a simple, easily manufacturable component that can be produced through conventional machining processes. The guide hole can be drilled and reamed to standard tolerances, and the component can be made from common materials like aluminum or steel, keeping manufacturing costs low while achieving the required guidance precision
Data Source
Figure 1A~1B
Figure 2
Figure 3A~3B
AI summary
A wire-driven manipulator includes a plurality of flexible members, a drive unit configured to drive the plurality of flexible members, and at least one bendable portion including a distal end member and at least one guide member disposed nearer to the drive unit than the distal end member. The bendable portion is configured to be bent by driving the plurality of flexible members. The plurality of flexible members are connected to the distal end member. At least one of the plurality of flexible members is also connected to the guide member. The other of the plurality of flexible members is configured to be slidable with respect to the guide member.