Concentric Ring Manipulator for Compact Tele-Surgery
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Solution Overview
Problem
Current minimally invasive tele-operated surgery systems face challenges in maintaining a compact and low-profile design, which limits patient access and increases the risk of collisions between robotic manipulators, while also requiring complex redundant degrees of freedom and high inertia.
Innovation Solution
The design incorporates a computer-assisted tele-operated surgery manipulator with concentrically arranged rings and a remote center of motion that remains fixed, allowing for a compact, low-profile configuration with reduced mass and inertia, enabling closer proximity to the patient and minimizing collisions by reducing the need for redundant degrees of freedom.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If a compact and low-profile design is used, then patient access is improved and collision risk is reduced, but the manipulator requires complex redundant degrees of freedom and high inertia
Solution Approach 1:
The patent employs nested concentric rings where the inner ring is positioned within the outer ring, allowing both rings to rotate independently about the same central axis. This nesting arrangement enables the manipulator to achieve complex orientations through coordinated rotation of the nested rings, reducing the need for redundant degrees of freedom while maintaining a compact profile.
Solution Approach 2:
The patent introduces a vertical dimension by stacking rotational degrees of freedom in the concentric rings rather than arranging them in a linear sequence. The first ring provides rotation about a first axis, while the second ring provides rotation about a second axis perpendicular to the first, creating a two-dimensional rotational space that reduces the need for additional redundant degrees of freedom.
2Length of moving object
If a compact and low-profile design is used, then patient access is improved, but the manipulator working space becomes more complex and smaller
Solution Approach 1:
The nested concentric rings allow the manipulator to achieve a low-profile design by stacking rotational mechanisms vertically rather than extending them horizontally. The inner ring fits within the outer ring, both rotating about the same central axis, which compactly packs the manipulator's working space while maintaining full rotational capability.
Solution Approach 2:
The patent employs dynamically adjustable rotational mechanisms where the concentric rings can rotate independently and coordinate their motion. This dynamic capability allows the manipulator to access different working spaces by changing the orientation of the rings, effectively expanding the usable working space within a compact physical footprint.
3Length of moving object
If the manipulator is positioned closer to the patient, then patient access is improved, but collision risk between manipulators increases
Solution Approach 1:
The nested concentric rings create a compact manipulator structure with a reduced overall footprint. By nesting the rings vertically rather than extending them horizontally, the manipulator can be positioned closer to the patient without increasing the lateral space it occupies, thereby reducing collision risk with other manipulators.
Solution Approach 2:
The patent transitions from a horizontal arrangement of rotational degrees of freedom to a vertical stacking arrangement. This dimensional change allows the manipulator to achieve the same functional capability in a more compact lateral footprint, enabling closer positioning to the patient while minimizing collision risk with adjacent manipulators.
Data Source
AI summary
Manipulator devices are used for computer-assisted tele-operated surgery. In some embodiments, the manipulator devices described herein include an arm with a proximal end that is configured to releasably couple with a set-up structure of a computer-assisted tele-operated surgery system. A first ring is rotatably coupled to a distal end portion the arm and is rotatably driven by a first gear motor within the arm. A second ring that is concentric with the first ring is also rotatably coupled to the distal end portion of the arm. Rotations of the second ring are driven by a second gear motor within the arm. An instrument actuator coupling is pivotably coupled to the second ring. The instrument actuator coupling is configured to releasably couple with a computer-assisted tele-operated surgical instrument actuator, and defines a surgical instrument insertion axis.