Concentric Sphere Robot Link Axes for Radiation Targeting
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Solution Overview
Problem
Current radiation therapy robots face challenges in achieving accurate and rapid targeting, while also preventing collisions between link members during operation and maintaining a compact design to reduce overall weight and treatment time.
Innovation Solution
A robot design featuring a link portion with multiple link members and a drive portion that rotates these members on concentric spheres, with axes of rotation positioned at the same point, allowing for precise control and angle adjustment of an emitting member to efficiently target a target with minimal collisions and reduced weight.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Weight of moving object
If the robot uses a compact design with link members arranged on concentric spheres, then the overall weight is reduced, but the complexity of controlling the link members to prevent collisions increases
Solution Approach 1:
The patent applies spheroidality by arranging link members on concentric spherical surfaces with common rotation axes. The first link member rotates on a first spherical surface, while the second link member rotates on a second spherical surface concentric with the first. This spherical geometry allows compact positioning of multiple link members without collision while maintaining simple rotational control around shared axes, thus reducing overall weight without significantly increasing control complexity.
2Loss of time
If the robot uses a compact design with link members arranged on concentric spheres, then the treatment time is reduced, but the precision of targeting may be compromised
Solution Approach 1:
The patent implements dynamics by enabling independent rotational movement of link members around different axes. The first link member rotates around a first axis, and the second link member rotates around a second axis, allowing dynamic adjustment of the emitting member's position and orientation. This dynamic control system enables rapid repositioning for efficient treatment while maintaining precise targeting capability through coordinated rotation of multiple link members.
Solution Approach 2:
The patent adds dimensional freedom by arranging link members on concentric spheres rather than a single plane. The first link member operates on a first spherical surface while the second link member operates on a second concentric spherical surface, creating multi-layered rotational freedom. This dimensional arrangement allows the emitting member to reach any position on the sphere through coordinated rotation, achieving both rapid positioning and high precision targeting.
3Ease of operation
If the robot positions axes of rotation at an identical point, then the directivity towards the target is improved, but the complexity of the drive portion increases
Solution Approach 1:
The patent applies universality by making the first and second axes of rotation coincide at a common point, allowing both link members to share the same rotation center. This common axis arrangement enables a single drive mechanism to control both link members' rotational movements, achieving multi-functionality where one drive system performs multiple control tasks. The emitting member can be directed towards any target position through coordinated rotation around the shared axis, improving directivity control without proportionally increasing drive portion complexity.
Data Source
AI summary
A robot includes a link portion including a plurality of link members and a drive portion to rotate the link members, and axes of rotation of the drive portion extending from end portions of the link members is positioned at an identical point.