Compact Robotic Joint With 3-DOF Nested Driveshafts
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Solution Overview
Problem
Existing minimally invasive surgical technologies, such as laparoscopy and robotic systems like the da Vinci Surgical System, are limited by mobility restrictions, visual feedback, and high cost, making them unsuitable for complex surgical procedures.
Innovation Solution
A robotic device with a compact joint design featuring three degrees of freedom, achieved through nested concentric driveshafts and bevel gear sets, allowing for a smaller device profile and enhanced mobility within the body cavity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional robotic systems with multiple degrees of freedom are used, then surgical functionality is improved, but device size and complexity increase
Solution Approach 1:
The patent implements a nested joint design where multiple joint components are positioned concentrically around a central axis. The first joint, second joint, and third joint are arranged in nested configurations, allowing each joint to occupy its own radial space while sharing the same longitudinal envelope. This nesting approach enables three degrees of freedom in a compact form factor, resolving the contradiction between surgical functionality and device size.
2Ease of operation
If rigid tools are inserted through access ports, then visual feedback is limited, but procedural simplicity is maintained
Solution Approach 1:
The patent employs dynamically articulated robotic arms with multiple degrees of freedom that can be precisely controlled to follow pre-planned trajectories. The real-time control system maintains dynamic stability while the robotic arm moves through the access port, providing continuous visual feedback through integrated cameras and sensors. This dynamic control approach preserves procedural simplicity while eliminating visual feedback limitations.
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 compact joint design enables improved surgical dexterity and reduced invasiveness, facilitating complex procedures with enhanced visual feedback and cost-effectiveness.
Implementation Method 1
The joint has three degrees of freedom, each degree of freedom corresponding to a rotation of one of the three driveshafts. The bevel gear sets transmit rotational motion between intersecting shafts, converting the rotation of driveshafts into controlled movement of the robotic arm components
Data Source
Figure 1A~1B
Figure 2
Figure 3A~3B
AI summary
The embodiments disclosed herein relate to various robotic and/or in vivo medical devices having compact joint configurations and at least three degrees of freedom. Other embodiments relate to various medical device components, including forearms having grasper or cautery end effectors, that can be incorporated into certain robotic and/or in vivo medical devices.