Doctor-side Control Apparatus Wheel Mobility
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Solution Overview
Problem
The existing robotic surgical systems have limited mobility for the surgeon-side console, which can only move in one direction, making it inconvenient to position in a desired location within a surgical room, especially in narrow spaces.
Innovation Solution
A doctor-side control apparatus with a control apparatus main body equipped with multiple wheels that allow movement in two orthogonal directions parallel to the floor surface, enabling easier positioning and alignment with the surgeon.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the surgeon-side console is designed to move only in one direction (left-right) on the floor surface, then the structure can be simple, but it takes time to locate the console in a desired position and reduces mobility convenience
Solution Approach 1:
The wheel assembly is segmented into multiple independent wheels (first wheels and second wheels) that can rotate in different directions. The first wheels rotate about a first axis and the second wheels rotate about a second axis orthogonal to the first axis, allowing the console to move in multiple directions independently while maintaining a relatively simple overall structure.
Solution Approach 2:
The wheel assembly transitions from one-dimensional movement (single direction) to two-dimensional movement by adding wheels that rotate about orthogonal axes. This enables the console to move both in the left-right direction and in the forward-backward direction, significantly improving mobility convenience without requiring a completely complex mechanism.
2Adaptability or versatility
If the surgeon-side console can move in multiple directions, then positioning convenience is improved, but the device complexity increases
Solution Approach 1:
The wheel assembly is divided into multiple independent wheel units, each capable of rotating about its own axis. This segmentation allows each wheel to contribute to movement in specific directions while maintaining independent control, achieving positioning flexibility without requiring a monolithic complex mechanism.
Solution Approach 2:
The wheel assembly serves multiple functions: it enables movement in both left-right and forward-backward directions, provides positioning flexibility, and maintains structural simplicity. By designing the wheels to rotate about orthogonal axes, a single assembly achieves what would otherwise require multiple separate mechanisms.
Data Source
AI summary
A remote control apparatus (a doctor-side control apparatus) according to an embodiment is provided at a position away from a medical manipulator including an arm to which a medical instrument is attached and is configured to remotely operate the medical manipulator. Each of a plurality of wheels that are provided at a bottom surface of the control apparatus is configured to move a control apparatus main body in a first direction parallel to a floor surface on which the control apparatus main body is placed and in a second direction parallel to the floor surface and orthogonal to the first direction.