Coaxial Positioning Arms for Compact Surgical Robot Layout
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Solution Overview
Problem
Existing endoscopic surgical robot systems face challenges in accurately positioning the surgical instrument due to limitations in the positioning arm's ability to adjust and maneuver within the in-vitro space, affecting the system's capability to perform various surgical procedures.
Innovation Solution
The surgical robot system incorporates a platform with rotatable cross arms and rotary joints, allowing for rotational movement of positioning arms relative to the platform, and features such as speed reducers, contracting brakes, and angle encoders to enhance positioning precision and safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the positioning arm is made more flexible to adjust and maneuver within in-vitro space, then the positioning ability improves, but the transverse space requirements increase
Solution Approach 1:
The patent introduces a rotary joint that enables rotation about a longitudinal axis, adding a new dimensional degree of freedom to the positioning arm. This allows the arm to achieve repositioning through rotational movement rather than requiring larger transverse space for linear adjustments, effectively solving the contradiction between positioning flexibility and space requirements
Solution Approach 2:
The positioning arm incorporates a rotatable cross arm with rotary joint that can dynamically adjust its orientation and position. This dynamic capability allows the arm to maneuver within limited transverse space by rotating and repositioning itself, maintaining high adaptability without increasing the stationary space footprint
2Adaptability or versatility
If the positioning arm is made more adjustable for different surgical procedures, then the versatility improves, but the device complexity increases
Solution Approach 1:
The rotary joint and rotatable cross arm serve multiple functions: they enable positioning adjustments, facilitate maneuverability within limited space, and support various surgical procedures. This multi-functionality increases versatility without proportionally increasing device complexity, as a single rotational mechanism accomplishes multiple objectives
3Ease of operation
If the positioning arm allows more movement freedom, then the maneuverability improves, but the risk of accidental movements increases
Solution Approach 1:
The patent incorporates an angle encoder in the rotary joint that provides feedback on the rotational position and movement of the cross arm. This feedback mechanism allows for precise control and monitoring of the positioning arm's movements, enabling high maneuverability while preventing accidental movements through real-time position awareness and control
Data Source
AI summary
A surgical robot system includes a platform and at least one positioning arm. The at least one positioning arm each includes a first cross arm and a first rotary joint, the first rotary joint is arranged in the first cross arm or the platform, a proximal end of the first cross arm is rotatably connected to the platform via the first rotary joint, and the first cross arm is operable to rotate about a longitudinal axis relative to the platform. By overlapping first cross arms of a pair of positioning arms and coaxially connecting the first cross arms to the platform, the longitudinal space occupation of the positioning arms can be reduced, and the risk of interference and collision between the positioning arms is reduced.