Ceiling-Mounted Robotic Arm Counterbalance Mechanism
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Robotic surgical arms in existing systems are limited by floor-mounted patient side carts that clutter the operating room, restrict motion, and are difficult to maneuver, and table-mounted arms limit surgical range and accessibility.
Innovation Solution
A ceiling-mounted robotic surgical system with a spring-cable-pulley counterbalancing mechanism that allows for adjustable counterbalancing force to support robotic arms, enabling greater range of motion and reducing clutter in the operating room.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If robotic surgical arms are mounted to a patient side cart on the floor, then the system can be easily moved and set up, but the cart takes up floor space, requires cable routing along the floor, and is heavy and difficult to maneuver
Solution Approach 1:
The robotic surgical system is transitioned from floor-based support to ceiling-mounted support, utilizing the vertical dimension and overhead space. This relocates the mounting point from the horizontal plane (floor) to the vertical plane (ceiling), eliminating the need for floor space occupation while maintaining accessibility to the patient area.
2Ease of operation
If robotic surgical arms are mounted to a patient's table, then the system is positioned close to the patient, but the range of motion is limited to avoid bumping one another
Solution Approach 1:
By mounting robotic arms to the ceiling rather than the patient table, the system gains additional spatial freedom. The arms can approach the patient from above and at various angles, significantly expanding the range of motion and surgical accessibility without the constraints of table-mounted positioning.
3Area of stationary object
If robotic surgical arms are mounted overhead, then floor space is cleared and range of motion is improved, but a counterbalancing mechanism is required to support the weight of the arms
Solution Approach 1:
A counterbalancing mechanism is implemented in the overhead mounting system to offset the weight of the robotic surgical arms. This allows the arms to be easily positioned and held in place without requiring continuous power or active control, simplifying operation while enabling ceiling-mounted installation.
4Ease of operation
If patient side cart is positioned at head or feet of patient, then it does not block access to patient's side, but it is heavy and difficult to move and requires set-up procedure
Solution Approach 1:
The robotic surgical system is pre-installed on the ceiling before the surgical procedure begins. This preliminary positioning eliminates the need for setup procedures and repositioning during surgery, saving time and allowing the surgical team to focus on the procedure rather than equipment arrangement.
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
The system enhances surgical accessibility and efficiency by providing a clear operating space, improved arm mobility, and simplified setup, while maintaining effective counterbalancing to support the weight of robotic arms.
Implementation Method 1
The counterbalancing mechanism includes a cable, three pulleys, and a compression spring
Implementation Method 2
The counterbalancing mechanism includes a cable, three pulleys, and a compression spring
Implementation Method 3
The cable wraps over the three pulleys and has a first end coupled to the compression spring to counter balance the load applied to the second end of the linkage
Implementation Method 4
The cable wraps over the three pulleys
Data Source
Figure 1
Figure 2A~2B
Figure 2C~2D
AI summary
In one embodiment of the invention, an apparatus is provided including a linkage and a balancing mechanism coupled to the linkage around a pivotal joint. The linkage couples to a support structure at a first end and support a weight applied to a second end. The balancing mechanism counter balances the weight applied to the second end of the linkage. As the linkage is deformed to vertically adjust the height of the weight with a different moment arm length, the balancing mechanism varies a cable path length to modify the compression of a spring and a tension in a cable to adjust the amount of counter balance force applied to the linkage.