Surgical End Effector Interface With Multi-Angle Tool Kinematics
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Solution Overview
Problem
Surgical robots face challenges in accommodating diverse clinical applications with varying requirements, often necessitating complex changeovers and limited movement capabilities due to fixed tool orientations.
Innovation Solution
A robotic system with a mount flange and end effector interface that allows for two distinct orientations, enabling 90-degree shifts in surgical tool axes, providing separate kinematic solutions for different applications without requiring multiple systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a fixed tool orientation is used in the robotic system, then the system structure is simplified, but the adaptability to different surgical applications is reduced
Solution Approach 1:
The patent implements a dynamic attachment interface that allows the end effector to be rotated between multiple predetermined orientations (e.g., 0 degrees, 90 degrees, 180 degrees, 270 degrees) relative to the mount flange. This dynamic reconfigurability enables the same robotic system to adapt to different surgical applications without requiring multiple fixed-orientation systems, thereby resolving the contradiction between structural simplicity and adaptability.
2Adaptability or versatility
If multiple robotic systems are used to accommodate different surgical tasks, then the adaptability is improved, but the device complexity and cost increase
Solution Approach 1:
The patent creates a universal robotic system where a single robotic arm with a multi-orientation attachment interface can perform multiple surgical tasks. The end effector can be attached in different orientations depending on the surgical application requirements, making one system replace multiple specialized systems. This resolves the contradiction by enabling one system to perform the functions of multiple systems.
Solution Approach 2:
The patent separates the orientation function from the robotic arm itself by using an independent attachment interface with multiple predetermined orientations. This segmentation allows the robotic arm to remain simple while the attachment interface provides the necessary versatility, enabling different surgical tasks to be accommodated without increasing overall system complexity.
3Manufacturing precision
If complex changeovers are required for different surgical applications, then the precision for specific tasks is maintained, but the loss of time during transitions increases
Solution Approach 1:
The patent pre-establishes multiple predetermined orientations (e.g., 0, 90, 180, 270 degrees) in the attachment interface design. These orientations are prepared in advance during system setup, allowing quick selection and switching between them during surgical procedures without requiring complex real-time adjustments. This preliminary preparation resolves the contradiction by enabling fast transitions while maintaining precision.
Data Source
AI summary
A robotic system according to at least one embodiment of the present disclosure includes a robot arm including a proximal end and a distal end, a mount flange rotationally connected to the robot arm at the distal end along a rotation axis, and an end effector interconnected to the mount flange via an attachment interface disposed between the mount flange and the end effector. The attachment interface fixedly arranges the end effector in one of at least two select positions. A first position of the at least two select positions orients a surgical tool axis of the end effector at a first angle relative to the rotation axis, and a second position of the at least two select positions orients the surgical tool axis of the end effector at a second angle relative to the rotation axis. The second angle is different from the first angle.