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 mechanism, allowing for a compact, low-profile configuration with reduced mass and inertia, and a remote center of motion that remains fixed during rotational orientations, facilitating surgical access and minimizing collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If a compact and low-profile design is implemented, then patient access is improved and collision risk is reduced, but the system requires complex redundant degrees of freedom and high inertia
Solution Approach 1:
The patent implements a nested ring structure where multiple rings are positioned concentrically along the manipulator arm. The first ring is rotatably coupled to the arm, the second ring is rotatably coupled to the first ring, and the third ring is rotatably coupled to the second ring. This nesting allows compact packaging of multiple degrees of freedom within a reduced volume while maintaining full articulation capability.
Solution Approach 2:
The manipulator is divided into segmented components including the arm, multiple independently rotatable rings, and an instrument actuator coupling. Each ring can rotate independently about its own axis, allowing the system to achieve complex motions through composition of simpler rotational movements, thereby reducing the need for redundant degrees of freedom.
2Adaptability or versatility
If redundant degrees of freedom are added to maintain compact design, then patient access is improved, but the inertia and complexity of the manipulator increase
Solution Approach 1:
The patent employs dynamically adjustable degrees of freedom through the three independently rotatable rings. Each ring can be actively controlled to rotate about its axis, allowing the manipulator to adapt its configuration in real-time based on surgical requirements. This dynamic adaptability provides versatile positioning capability without requiring permanent redundant structural elements that would increase mass.
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.