MEDICAL EQUIPMENT & DEVICES PORTESCAP
physical contact with a rotating commutator. In combination, a slotless design minimises the cogging effect. Traditionally, the stator, responsible is designed with slots that accommodate the copper windings and provide a path for the design, the windings are distributed evenly, allowing for a more symmetrical and continuous structure. This enhances uniformity of the magnetic force distribution and achieves smoother motor cogging can be reached.
POWER DENSITY The compact space envelope of an end effector on a surgical robot means that a small motion system is essential, but it still has to deliver the required the delaying effect caused by any residual cogging. In combination, minimising a motor’s inertia, or its resistance to changes in motion, can also improve speed of response. Optimising a motor’s dynamism contributes to improved precision, and materials that can reduce the mass of the rotor are important considerations. Meanwhile, effective induced resistance that would otherwise lead to an increase in inertia.
performance of an encoder is crucial to optimise control over the motor’s position and speed. The encoder provides feedback to the controller on the motor’s actual rotation characteristics to ensure precise control. This performance can be enhanced The preferred feedback design for surgical robot applications is a magnetic encoder. Relying position and speed, a magnetic encoder gives
22 August 2024 Irish Manufacturing
greater operational reliability in a surgical theatre compared to an optical design, where splashes and ingress of debris can obscure the sensor.
AUTOCLAVE The robot’s end effector might operate inside the essential so the end effector, as well as the motion system that drives it, must be sterile for every procedure. While an autoclave unit eliminates system must be able to withstand this process.
Portescap led the way in innovating autoclavable motion solutions, and this heritage in design continues today. Motors are guaranteed for a minimum of 1,000 autoclave procedures, and their controllers too, while Portescap’s autoclavable encoders can be used for at least 2,000 autoclave cycles, and gearheads are tested to 3,000 cycles or more. The method of design and sealing with a high IP rating, as well as innovation in materials development, achieves this optimum resistance and durability.
CUSTOMISATION durability for sterilisation is common across motion well as control characteristics. The form of the integration, that could include a customised Portescap’s motion system development is for custom applications. approach, it’s advantageous to involve the motion team early in robot design. Sharing full visibility of the requirements from the outset can speed up development and minimise the need for shelf motor design can reduce time to market. approach. Instead, a motion system tailored to the surgical
For current robotic surgical applications, enhancing control precision means improved patient recovery
will achieve the optimum balance of motion performance, combined with ease and speed of design integration.
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