Parallel-Kinematics Endoscope Manipulator for Rigid Precise Positioning
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Solution Overview
Problem
Existing surgical manipulator devices face challenges with rigidity, stability, and difficulty in attaching to a stand, while requiring a large installation space and compromising the surgeon's working and viewing field.
Innovation Solution
A surgical manipulator device with a frame design that includes first and second linkages movable in parallel planes, each connected via four lever pivot points sharing a common axis, enhancing rigidity and stability, and incorporating a V-shaped arrangement to prevent singularities, along with a drive mechanism and instrument holding device for precise positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the frame allows movement of the plane to compensate for changing distance between pivot points, then the manipulator can maintain positioning accuracy, but the stability and rigidity of the system deteriorates
Solution Approach 1:
The manipulator is divided into two independent linkage assemblies, each with its own plane of motion. The first linkage assembly compensates for distance changes between pivot points, while the second linkage assembly maintains stable positioning. This segmentation allows each subsystem to optimize for its specific function without compromising the other.
Solution Approach 2:
The first plane of motion is designed to be movable relative to the second plane of motion, allowing dynamic adjustment of the manipulator's configuration. This enables the system to adapt to changing surgical conditions while maintaining overall stability through the fixed second plane.
2Stability of the object's composition
If the frame is designed with greater overall rigidity, then the stability improves, but the ability to compensate for changing distance between pivot points deteriorates
Solution Approach 1:
The manipulator is divided into two independent linkage assemblies, each with its own plane of motion. The first linkage assembly compensates for distance changes between pivot points, while the second linkage assembly maintains stable positioning. This segmentation allows each subsystem to optimize for its specific function without compromising the other.
Solution Approach 2:
The first plane of motion is designed to be movable relative to the second plane of motion, allowing dynamic adjustment of the manipulator's configuration. This enables the system to adapt to changing surgical conditions while maintaining overall stability through the fixed second plane.
3Stability of the object's composition
If four lever pivot points are used in each linkage assembly, then the rigidity and stability improve, but the device complexity increases
Solution Approach 1:
The first and second linkage assemblies share common axes of rotation for their lever pivot points. This merging of rotational axes reduces the total number of separate pivot mechanisms required, simplifying the overall structure while maintaining the rigidity and stability provided by four pivot points per assembly.
Data Source
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AI summary
The invention relates to a surgical manipulator device (100) for positioning a surgical instrument (102), in particular an endoscope, said manipulator device (100) comprising a frame (108), a first holder (114) and a second holder (116) for retaining a surgical instrument (102), a first link mechanism (110) which is mounted on the frame (108) and hingedly connects the frame (108) to the first holder (114), and a second link mechanism (112) which is mounted on the frame (108) and hingedly connects the frame (108) to the second holder (116), the first and second link mechanisms (110, 112) each being movable relative to the frame (108) on parallel, spaced-apart first and second movement planes (B1, B2) such that the first holder (114) can move on the first movement plane (B1) and the second holder (116) can move on the second movement plane (B2). According to the invention, the first link mechanism (110) is coupled to the frame (108) at four leverage points (121, 122, 123, 124) of the first link mechanism (110), and the second link mechanism (112) is coupled to the frame (108) at four leverage points (125, 126, 127, 128) of the second link mechanism (112).The invention further relates to a method, an instrument receiving device (120) and a coupling element.