Compact Robotic Joint Design Using Nested Bevel Gears
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Solution Overview
Problem
Current minimally invasive surgical technologies, such as laparoscopy and robotic systems like the da Vinci Surgical System, face limitations due to mobility restrictions and limited sensory and mobility capabilities, making them unsuitable for complex procedures and often unavailable in most hospitals due to their large size and high cost.
Innovation Solution
The development of compact robotic devices with advanced gear drivetrain configurations, including concentric bevel gear sets and modular designs, which enable improved mobility and sensory feedback, allowing for more complex surgical procedures with reduced incision size and enhanced ease of handling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If robotic systems like the da Vinci Surgical System are used, then surgical precision and mobility are improved, but device size and cost increase significantly
Solution Approach 1:
The patent implements nesting by placing the driveshaft rotatably within and concentric with the bevel gears. The first driveshaft is nested within the first lower bevel gear and first upper bevel gear, while the second driveshaft is nested within the second lower bevel gear and second upper bevel gear. This nested configuration allows multiple mechanical components to occupy the same spatial envelope, significantly reducing the overall device volume while maintaining robotic mobility and surgical precision.
2Measurement precision
If robotic systems like the da Vinci Surgical System are used, then surgical precision is improved, but device cost and complexity increase
Solution Approach 1:
The patent applies universality by designing a modular robotic system where multiple driveshafts and bevel gear sets can be configured for different surgical applications. The first and second drivetrains with their respective motors and bevel gears provide multi-functional capability, allowing the same basic mechanical architecture to serve multiple surgical purposes. This modularity reduces overall system complexity compared to dedicated single-function robotic systems while maintaining high surgical precision.
3Object-affected harmful factors
If minimally invasive procedures are performed, then patient recovery is improved, but surgical capability and complexity are limited
Solution Approach 1:
The patent implements dynamics through the rotatable driveshafts that can change orientation and position within the body cavity. The first and second driveshafts are configured to rotate and adapt their spatial configuration, allowing the robotic system to perform complex surgical maneuvers through small incisions. This dynamic capability enables minimally invasive procedures to achieve the surgical complexity previously requiring open surgery, thereby improving patient recovery while expanding surgical capability.
Data Source
AI summary
The embodiments disclosed herein relate to various robotic and/or in vivo medical devices having compact joint configurations. 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.