High-Torque 12V Stepper Motor nwere Encoder na Gearbox na-eme ka nkenke na nchekwa.

Moto stepper nke 12V DC na-ejikọta moto micro 8mm, ihe ntinye ọkwa 4 na igbe mbelata 546: 1etinyere ya n'ihu ọha na sistemu stapler actuator. Nkà na ụzụ a, site na nnyefe dị oke elu na njikwa ọgụgụ isi, na-eme ka nkwụsi ike na nchekwa nke anastomosis ịwa ahụ dịkwuo elu, na-esetịpụ akara ụlọ ọrụ ọhụrụ maka ọrụ ịwa ahụ dị ntakịrị.

Moto a na-ebute nguzozi zuru oke n'etiti miniaturization na torque dị elu. Ọ bụ moto ultra-miniature 8mm: na-egosipụta atụmatụ rotor na-enweghị isi, ọ na-ebelata olu site na 30% ma e jiri ya tụnyere ọgbọ gara aga ebe ị na-ahụ 12V obere voltaji mbanye, na-eme ka ọ dabara adaba maka oghere ọrụ dị warara nke endoscopic staplers. 4-larịị ọkwa dị elu nke ziri ezi: Site na mkpebi nke 0.09 °, ọ nwere ike inye nzaghachi ozugbo na ọsọ ọsọ na ọnọdụ moto, na-eme ka njehie nke ọ bụla dị anya n'oge usoro suture na-achịkwa n'ime ± 0.1mm, na-ezere ihe ize ndụ nke nkwụsị anụ ahụ ma ọ bụ ọbara ọgbụgba. 546: 1 Multi-stage gearbox: Site na usoro mbelata gia mbara ala 4-ogbo, a na-abawanye ike nke moto stepper ka ọ bụrụ 5.2N·m (ibu a tụrụ atụ). Ka ọ dị ugbu a, a na-eji igwe igwe anaghị agba nchara ahụike mee ngwa ahụ, na-ebelata nha nha site na 60% yana hụ na ndụ karịrị okirikiri 500,000.

Mgbe ule ụlọ ọgwụ gasịrị, e nwetala mgbanwe site na "mechanical suture" gaa na "anastomosis nwere ọgụgụ isi". N'ime nnwale anụmanụ, stapler nwere ọgụgụ isi nke nwere moto a gosipụtara uru dị ukwuu: Ọsọ nzaghachi emelitere: N'ihi njikwa mkpọchi mechiri emechi, oge mmalite nkwụsị moto dị mkpụmkpụ ka ọ bụrụ 10ms, enwere ike gbanwee ike suture ozugbo n'oge ọrụ ahụ. Nhazi nha nke mbelata 546 na-enyere moto aka ịnọgide na-arụ ọrụ nke ọma na obere ọsọ ọsọ, na-ebelata ike nke otu ọrụ site na 22%. Ọ na-akwado usoro nkwukọrịta ụgbọ ala CAN ma nwee ike jikọta ya na sistemụ njikwa nke robot ịwa ahụ na-arụ ọrụ nke ọma.

Ngwọta draịva a jikọtara nke ukwuu abụghị naanị na ọdabara stapler, mana enwere ike ịgbatị ya na akụrụngwa ahụike zuru oke dị ka endoscopes na nfuli injection n'ọdịnihu. N'ọdịnihu, moto nwere ọgụgụ isi nwere oke mbelata na obere mkpọtụ ga-abụ ihe a na-elekwasị anya na asọmpi.