Hyperdexterous Surgical Arm Layout for Mobile Tool Control
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Solution Overview
Problem
Current robotic surgical systems are limited by their bulkiness, restricted flexibility, and inability to simultaneously use manual and robotic tools, leading to reduced efficiency and increased complexity in surgical procedures.
Innovation Solution
The hyperdexterous surgical system features a compact and modular design, allowing for the simultaneous use of manual and hyperdexterous surgical tools, and enables the surgeon to be mobile during procedures, with enhanced information feedback and adjustable tool positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a large robotic arm is used to control the robotic tool, then the robotic tool can be positioned and controlled, but the system becomes bulky and less flexible
Solution Approach 1:
The robotic arm is divided into multiple segments (first arm segment, second arm segment, third arm segment) that can move independently relative to each other. This segmentation allows the system to achieve complex positioning with smaller, more flexible components rather than requiring a single large rigid arm.
Solution Approach 2:
The patent implements nesting by placing the rotate/translate mechanism within the third arm segment, and positioning the robotic tool within the rotate/translate mechanism. This nested arrangement minimizes the overall system footprint while maintaining full functionality, allowing components to be compactly organized.
2Manufacturing precision
If robotic tools are used, then surgical precision is improved, but the system complexity increases
Solution Approach 1:
The robotic tool is designed with multi-functionality, incorporating an end effector that can perform multiple surgical tasks (grasping, cutting, stapling) and a rotate/translate mechanism that provides both rotational and translational movements. This reduces the need for multiple separate tools and simplifies the overall system while maintaining surgical precision.
Solution Approach 2:
The system incorporates dynamic elements including a rotate/translate mechanism that can switch between rotational and translational modes, and a wrist mechanism with multiple degrees of freedom. These dynamic capabilities provide surgical precision while avoiding the complexity of entirely rigid, over-engineered structures.
3Ease of operation
If the robotic arm is made compact, then flexibility is improved, but the workspace access may be limited
Solution Approach 1:
The robotic arm utilizes three-dimensional spatial arrangement with segments extending in different directions (first arm segment in first direction, second arm segment in second direction, third arm segment in third direction). This multi-directional approach allows a compact structure to access large workspace volumes by exploiting the third dimension rather than requiring large horizontal footprints.
Solution Approach 2:
The dynamic rotate/translate mechanism and wrist mechanism with multiple degrees of freedom enable the compact robotic arm to access diverse workspace areas by changing its configuration and orientation, rather than requiring a large static structure.
4Device complexity
If manual tools are used, then the system is simpler, but the surgeon cannot simultaneously use manual and robotic tools
Solution Approach 1:
The robotic system is designed with universal capabilities that can perform tasks traditionally done with manual tools. The end effector can replicate manual tool functions (grasping, cutting) while adding robotic precision, allowing the system to replace or supplement manual tools rather than coexist with them, thus maintaining simplicity while increasing versatility.
Data Source
AI summary
A hyperdexterous surgical system is provided. The system can include one or more surgical arms coupleable to a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena.