Compound Continuum Robot for Skull Base Tumor Resection

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Solution Overview

Problem

Existing robots for skull base tumor resection have poor connection compactness, incomplete drive functions, and large sizes, which hinder their application and popularization in minimally invasive surgery.

Innovation Solution

A compound continuum robot comprising a concentric tube continuum mechanism and a notched continuum mechanism, controlled by respective driving mechanisms, allowing for adaptive motion in complex environments and reducing instrument diameter through a compound driving manner.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If a single continuum mechanism is used, then the structure is simple, but the drive function is incomplete and adaptability is poor

Engineering Contradiction:

Improvedrive function completenessVSAvoidmechanism structure

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent combines a notched continuum mechanism and a concentric tube continuum mechanism into a compound continuum robot system. The notched mechanism provides bending and rotating motions while the concentric tube mechanism provides feeding and rotating motions, creating a complete drive function that adapts to complex in vivo environments without excessive complexity

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The compound continuum robot achieves multi-functionality by integrating two continuum mechanisms with different motion capabilities. The system can perform bending, rotating, and feeding motions simultaneously, making it universally applicable to complex surgical tasks in skull base tumor resection

Inventive Principle:

Principle #6Universality (Multi-functionality)

2Adaptability or versatility

If multiple mechanisms are added to improve drive function, then the adaptability increases, but the overall size becomes large

Engineering Contradiction:

Improvein vivo environment adaptabilityVSAvoidrobot overall size

Core Design Contradiction:

Adaptability or versatilityVSVolume of moving object

Solution Approach 1:

The patent employs a nested configuration where the notched continuum mechanism and concentric tube continuum mechanism are arranged concentrically, with one mechanism nested within the other. This nesting approach allows multiple drive mechanisms to be integrated in a compact space, reducing the overall robot size while maintaining complete drive functions

Inventive Principle:

Principle #7Nested doll (Nesting)

Solution Approach 2:

The compound continuum robot utilizes spatial arrangement in multiple dimensions, with mechanisms arranged along different axial directions. This dimensional optimization enables compact integration of multiple drive mechanisms, achieving high adaptability without increasing the robot's overall footprint

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

3Ease of manufacture

If mechanisms are connected loosely, then the manufacturing is easier, but the connection compactness in position is poor

Engineering Contradiction:

Improvemechanism assemblyVSAvoidconnection compactness

Core Design Contradiction:

Ease of manufactureVSManufacturing precision

Solution Approach 1:

The patent divides the continuum robot into modular segments including the notched continuum mechanism, concentric tube continuum mechanism, and control mechanisms. Each module can be manufactured and assembled separately, facilitating ease of manufacturing while maintaining precise positional connections through standardized interfaces

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent employs precise parameter control in the connection design, including specific tolerances and alignment features, to achieve high connection compactness. The modular design allows for parameter optimization in each segment while maintaining overall system precision through controlled assembly parameters

Inventive Principle:

Principle #35Parameter changes

Data Source

PatentUS20230404687A1Compound continuum robot for skull base tumor resection and control method therefor

Publication Date: 2023.12.21 SHANDONG UNIV

AI summary

A compound continuum robot for skull base tumor resection and a control method therefor. The robot includes a fixed base module, and a continuum mechanism, a notched continuum control mechanism, a concentric tube driving mechanism and a forceps opening and closing control mechanism which are arranged on the fixed base module. The continuum mechanism is sequentially composed of a concentric tube continuum mechanism and a notched continuum mechanism from interior to exterior, a bending motion and a rotating motion of the notched continuum mechanism are controlled by the notched continuum control mechanism, feeding and rotating motions of the concentric tube continuum mechanism are controlled by the concentric tube driving mechanism, and feeding and rotating motions of a forceps opening and closing control mechanism steel cable are controlled by the forceps opening and closing control mechanism, such that forceps are opened or closed.