Flexible Joint Surgical Robot Reducing Insertion Load

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

In ophthalmic surgery, traditional surgical robots with rigid multi-link structures apply excessive load to the insertion point due to the rigidity of the robot arm, leading to increased kinematic errors and reduced minimally invasive capabilities, especially when multiple tools are inserted into the same surgical site.

Innovation Solution

A surgical robot with a multi-link structure incorporating flexible joints, such as passive or active joints with spring elements made from materials like polyimide, CFRP, or GFRP, which absorb errors and external forces, allowing for pivotal movement and reducing the load on the insertion point.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If a rigid multi-link structure is used for the surgical robot arm, then positioning accuracy and structural stability are improved, but the load applied to the insertion point increases and minimally invasive capabilities are reduced

Engineering Contradiction:

Improvepositioning accuracyVSAvoidload on insertion point

Core Design Contradiction:

Measurement precisionVSForce

Solution Approach 1:

The patent applies flexible joints with spring elements (polyimide, CFRP, GFRP) in the multi-link structure to create a robot arm that can flexibly adapt to movements. This flexible structure reduces the load on the insertion point while maintaining positioning accuracy through controlled flexibility, directly resolving the contradiction between rigid structural stability and minimal invasive capabilities

Inventive Principle:

Principle #30Flexible shells and thin films

Solution Approach 2:

The patent changes the physical parameters of the joint connections by introducing spring elements with specific flexibility characteristics. This allows the robot arm to dynamically adjust its stiffness and absorb external forces, reducing the load transmitted to the insertion point while preserving positioning accuracy through parameter-optimized flexible joints

Inventive Principle:

Principle #35Parameter changes

2Adaptability or versatility

If multiple surgical tools are inserted into the same surgical site, then surgical versatility is improved, but the load on the insertion point increases due to rigid structure

Engineering Contradiction:

Improvesurgical versatilityVSAvoidload on insertion point

Core Design Contradiction:

Adaptability or versatilityVSForce

Solution Approach 1:

The flexible joints in the multi-link structure allow the robot arm to independently accommodate movements of multiple surgical tools inserted through the same trocar. This flexibility reduces the cumulative load on the insertion point while maintaining the ability to perform versatile surgical operations with multiple tools

Inventive Principle:

Principle #30Flexible shells and thin films

3Stability of the object's composition

If the robot arm is rigidly fixed, then structural stability is improved, but the ability to absorb external forces and maintain minimal invasiveness is reduced

Engineering Contradiction:

Improvestructural stabilityVSAvoidexternal forces on insertion point

Core Design Contradiction:

Stability of the object's compositionVSObject-affected harmful factors

Solution Approach 1:

The spring elements in the flexible joints are pre-configured to absorb external forces before they reach the insertion point. This beforehand cushioning mechanism protects the insertion site from harmful forces while maintaining structural stability through the controlled flexibility of the multi-link structure

Inventive Principle:

Principle #11Beforehand cushioning (Prior cushioning)

Solution Approach 2:

The flexible joints with spring elements provide a compliant structure that can absorb external forces applied to the surgical tool. This flexibility reduces the transmission of harmful forces to the insertion point while maintaining overall structural stability through the multi-link configuration

Inventive Principle:

Principle #30Flexible shells and thin films

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

The flexible joint configuration enables minimally invasive surgery by reducing the load on the insertion point, maintaining positioning accuracy, and absorbing errors in pivot movements, thereby minimizing complications like laceration during ophthalmic procedures.

Implementation Method 1

at least some links connecting between links are formed by a flexible joint having flexibility

Methodology Applied

Scientific EffectElasticity: Elasticity

Implementation Method 2

The flexible joint that is a passive joint has a spring element in a rotation direction

Methodology Applied

Scientific EffectSpring element: Spring

Data Source

PatentUS20240156552A1Surgical robot

Publication Date: 2024.05.16 SONY GROUP CORP

AI summary

Provided is a surgical robot that is applied to ophthalmic surgery and achieves minimally invasive surgery by reducing a load applied to a portion of insertion by a surgical tool. The surgical robot is configured by a plurality of links, at least some links connecting between links are formed by a flexible joint having flexibility, and a surgical tool is mounted at a distal end. The flexible joint that is a passive joint has a spring element made by, for example, polyimide, CFRP, GFRP, or polyester, in a rotation direction. Furthermore, the flexible joint that is an active joint is connected to a flexible structure that is serially fixed to an output shaft of a driving motor.