Accomplishing these things requires engineers to examine everything about these robots - from motors, sensor & servo systems & even plastic wrapped around them.
BUT often components that seal, connect, conduct and shield are secondary design considerations – that AT BEST, don’t enhance performance or WORSE, detract from your well thought out design (e.g. resulting in excess friction in system, tolerance stack issues &/or reduced tool life).
The good news is, selecting the right kind of seal, contact & conducting solution can actually ENHANCE system performance! AND, at some point, everyone has needed to consider these issues with their robot, right?
Pictures below represent some tools of the trade…
SEALS: Polymer & metal. Within polymer generally Elastomeric, Teflon:
-Metal vs. polymer: Metal typically used at very high pressures & temps (e.g. well north of 30 KSI & 600 deg. F.) – AND tend to be more $$. Based on my understanding, most surgical robots don’t see such pressures & temps.
- Within polymer E & T: Generally speaking elastomeric seals have1.) higher friction but are also more elastic. That means have shorter life, but stretch for easy installation but is prone to taking a set.
MECHANICAL fasteners:
Depending on solution, can be 1.) bulky, 2.) complicated (consisting of multiple components), 3.) prone to contamination & 4.) have inexact or non repeatable forces (insertion / removal).
Conducting solutions:
- Many options available, can vary based on your specific need for 1.) footprint (axial & radial), 2.) # of insert/removal cycles & related 3.) conductivity & heat rise
Shielding:
- xxxxxxxxxx
Explain we engineer no std springs but oval shaped CC springs with coils under special inclination
That have different features and benefits Force/Deflection
Main take aways for rest
Spring features:
Unique force vs deflection curve
Working deflection up to 35%
Coils flex independently
Multiple contact points
Coil spacing affords for heat and media flux
Latching, changing tip heads.
Latching of camera assembly to rod heads – positioned and held firmly with preload so cant be bumped and knocked out of position. And easily detach to clean after surgical procedure. (after x # of cycles for a wipe down)
Grounding spring closer to end effector. Slip ring, oscillate slowly. (its effectively a slip ring)…. Energy not very high…. Disposable or reusable part…
These are the groove types, but we take your application into consideration. For example, if space is extra tight, we have grooves that will be maximized to decrease the space. If it’s electrical, we have special grooves to increase electrical conductivity.
PURW – Sterile purified water
Hemoglobin Level should be <2.2ug/cm^2
Protein Level should be <6.4ug/cm^2
Hemoglobin Level should be <2.2ug/cm^2
Protein Level should be <6.4ug/cm^2