Electronic RCM Surgical Robot Arm for Collision-Free MIS
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Solution Overview
Problem
Conventional surgical robot arms with mechanical RCM structures are bulky and prone to collisions, limiting space efficiency and effectiveness in minimally invasive surgeries.
Innovation Solution
Implementing RCM control through electronic control in a surgical robot arm with a base link, first and second links, and an instrument mounting link, allowing for reduced size and simplified configuration, and preventing collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a mechanical RCM structure is used in a surgical robot arm, then the structural stability is improved, but the overall size increases and space efficiency decreases
Solution Approach 1:
The patent replaces the mechanical RCM structure with an electronic control system. The control unit electronically coordinates the movement of the first and second links to maintain the surgical tool's tip at a constant distance from the insertion point, substituting physical mechanical constraints with computational control logic. This eliminates the need for bulky mechanical RCM components while achieving the same functional stability.
Solution Approach 2:
The patent extracts and removes the mechanical RCM structure from the robot arm design. By eliminating this heavy mechanical component and replacing it with electronic control, the overall size and weight of the robot arm are reduced while maintaining the essential RCM functionality through software-based distance constraint enforcement.
2Stability of the object's composition
If a mechanical RCM structure is used in a surgical robot arm, then the structural stability is improved, but the device complexity increases
Solution Approach 1:
The patent substitutes complex mechanical RCM linkages with a simpler electronic control architecture. The control unit receives position information from sensors and calculates the necessary adjustments to maintain constant distance, replacing intricate mechanical assemblies with programmable logic that is easier to configure and modify.
Solution Approach 2:
The electronic control unit serves multiple functions: it processes position data from sensors, calculates distance constraints, coordinates link movements, and maintains RCM functionality. This multi-functional approach consolidates what would require separate mechanical components into a single programmable controller, reducing overall system complexity.
3Volume of moving object
If the surgical robot arm size is reduced for better space efficiency, then space efficiency is improved, but the driving force required increases
Solution Approach 1:
The patent employs dynamic control through the electronic control unit, which continuously adjusts the movement of links based on real-time position feedback. This dynamic coordination allows the system to maintain RCM constraints with smaller actuators, as the control system optimizes force distribution and timing rather than relying on oversized mechanical components for static constraint enforcement.
Data Source
AI summary
The present disclosure provides a robot arm for minimally invasive surgery and a method of controlling the same and is directed to providing a surgical robot arm in which a remote center of motion (RCM) control is implemented through an electronic control so that an overall size of an instrument is reduced and a configuration is simplified, thereby increasing space efficiency and preventing collisions between robot arms.