Cylindrical PRP Manipulator Arm for Surgical Access
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Solution Overview
Problem
Current robotic surgical systems face limitations in versatility, accuracy, and safety due to their mechanical design, which is not suited for various surgical procedures beyond cardiologic surgery, leading to issues like reduced dexterity, increased intervention time, and collision risks during minimally invasive procedures.
Innovation Solution
A medical robotic system with a PRP (Prismatic-Revolute-Prismatic) kinematic configuration that includes a base, a manipulator arm with a vertical and horizontal part, a wrist, and an effector unit, providing improved positioning and access, reduced obstruction, and enhanced collision detection and avoidance capabilities, allowing for multiple instrument access ports and improved force feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If tele-operated robotic systems are used to eliminate tiring surgeon posture, then surgeon comfort is improved, but the systems have high purchase and maintenance costs
Solution Approach 1:
The robotic system is designed with a manipulator arm that can be positioned and oriented to perform multiple surgical procedures across different anatomical regions, making the expensive robotic system versatile and reducing the need for multiple specialized systems
2Manufacturing precision
If robotic systems are designed for cardiologic surgery with constant topology and small workspace, then accuracy in limited space is improved, but versatility for other surgical types is reduced
Solution Approach 1:
The manipulator arm incorporates dynamic positioning capabilities with multiple degrees of freedom, allowing the system to adapt its workspace envelope and reach different anatomical regions while maintaining precision, thus serving both cardiac and general surgery requirements
Solution Approach 2:
The robotic system is divided into modular components including a base, manipulator arm with vertical and horizontal parts, wrist, and effector unit, allowing flexible configuration and adaptation to different surgical procedures and anatomical topologies
3Adaptability or versatility
If manipulator arm with vertical and horizontal parts is used, then access to multiple instrument ports is improved, but collision risks increase
Solution Approach 1:
The system incorporates sensors and control mechanisms that provide real-time feedback on manipulator arm position and orientation, enabling collision detection and avoidance while maintaining the ability to access multiple instrument ports through coordinated motion control
4Loss of time
If minimally invasive techniques are used to reduce tissue damage, then patient recovery time is reduced, but surgeon tactile perception is degraded
Solution Approach 1:
The robotic system acts as an intermediary between the surgeon and the surgical site, with force feedback mechanisms that transmit tactile information from the effector unit back to the surgeon's control interface, compensating for the loss of direct tactile perception while enabling minimally invasive procedures
Data Source
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AI summary
A medical robotic system (10) for performing medical procedures comprises a robot manipulator (14) for robotically assisted handling of a medical instrument, in particular a laparoscopic surgery instrument (18). The robot manipulator (14) comprises a base (24); a manipulator arm (26) with an essentially vertical part (27) supported by the base and with an essentially horizontal part (29) supported by the vertical part (27); a manipulator wrist (28) supported by the manipulator arm (26); and an effector unit (30) supported by the manipulator wrist and configured for holding a medical instrument. The manipulator arm (26) has a cylindrical PRP kinematic configuration for positioning the manipulator wrist. More particularly, the PRP kinematic configuration has the following joint sequence: a prismatic (P) first joint (J1) for varying the height of the vertical part (27) by providing a translational degree of freedom along an essentially vertical axis, a revolute (R) second joint (J2) for varying the rotational angle between the vertical part (27) and the horizontal part (29) by providing a rotational degree of freedom about an essentially vertical axis, and a prismatic (P) third joint (J3) for varying the reach of the horizontal part by providing a translational degree of freedom along an essentially horizontal axis.