Endoscopic Surgery Platform With Matrix Manipulators and Telecentric Motion
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Solution Overview
Problem
Current endoscopic surgical robots have limitations in their manipulator configurations, leading to interference, large space occupation, and inflexible positioning, and lack the ability to support human-machine collaborative operations, while existing telecentric mechanisms face issues of large volume, collision, and limited motion space.
Innovation Solution
An endoscopic surgery platform with modular surgical manipulators arranged in a matrix on a surgical bed, featuring a positioning mechanism with lateral and longitudinal moving pairs, and a novel telecentric mechanism using an axial rotary joint and arc slide rail to enable precise, compact, and flexible manipulator movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If multiple manipulators are fixed on a base (integrated type), then the structure is compact and occupies small space, but interference between manipulators occurs and preoperative positioning becomes difficult
Solution Approach 1:
The system divides manipulators into independent modules that can be separately positioned and configured. Each manipulator is an independent unit that can be freely adjusted without affecting others, eliminating the interference problem while maintaining compactness through modular design.
Solution Approach 2:
The manipulators are designed with dynamic positioning capabilities, allowing flexible adjustment of insertion positions and angles during preoperative setup. This dynamic configurability enables easy positioning while maintaining a compact overall structure when not in use.
2Ease of operation
If each manipulator is installed on different bases (split type), then preoperative positioning is flexible and insertion position can be easily chosen, but large space is occupied and relative position determination becomes difficult
Solution Approach 1:
Multiple manipulators are merged into a coordinated system with a shared control platform. While each manipulator maintains independent positioning capability, they are integrated through common control and coordination mechanisms, reducing overall space requirements compared to completely separate bases.
Solution Approach 2:
The manipulators share a universal control interface and coordination system that enables flexible positioning for different surgical scenarios. This multi-functional platform can adapt to various insertion positions and angles without requiring dedicated infrastructure for each manipulator.
3Strength
If a telecentric mechanism is designed with high stiffness and compact structure (parallel mechanism), then structural efficiency is improved, but motion coupling increases and working space decreases
Solution Approach 1:
The telecentric mechanism is segmented into multiple independent motion chains, each responsible for specific degrees of freedom. This segmentation reduces motion coupling between joints while maintaining overall stiffness through coordinated control of separate chains.
Solution Approach 2:
The mechanism design incorporates spatial arrangement in multiple dimensions to achieve telecentric motion. By distributing motion components across different spatial dimensions, the system maintains compactness while preserving adequate working space and reducing coupling effects.
4Measurement precision
If existing telecentric mechanisms are used, then fixed-point motion is achieved, but volume is large and collision and interference between manipulators occur
Solution Approach 1:
The telecentric mechanism employs curved or spherical geometric arrangements to achieve fixed-point motion. This curved geometry allows compact packaging of the mechanism while maintaining precise telecentric behavior, reducing both volume and collision risk compared to linear arrangements.
Solution Approach 2:
The telecentric mechanism components are nested or folded into a compact configuration when not in use. This nesting capability allows the mechanism to occupy minimal space while still providing the required motion precision during surgical operations.
Data Source
AI summary
An endoscopic surgery platform includes a surgical bed and multiple surgical manipulators. Multiple surgical manipulators are arranged in a matrix on both sides of the surgical bed, and a positioning mechanism is arranged at the bottom of the surgical bed. The surgical manipulator can be stored at the bottom of the surgical bed through the positioning mechanism. The positioning mechanism includes a plurality of surgical manipulators positioned on the bottom of the surgical bed, a plurality of lateral moving pairs for moving along the length direction of the surgical bed, and multiple longitudinal moving pairs connected to the output end of multiple lateral moving pairs respectively and used to move along the width direction of the surgical bed. Longitudinal moving pair, lateral moving pairs and surgical manipulators are connected one by one.