In-Line Shoulder Joint Layout for Single-Arm Surgical Robotics
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Solution Overview
Problem
Current robotic surgical systems, such as the Da Vinci Surgical System, face challenges including high costs, large footprint, complexity, and the need for extensive training, which limit their accessibility and effectiveness in minimally invasive surgical procedures.
Innovation Solution
The development of a single-armed robotic device with a compact joint design, specifically an in-line shoulder joint, which allows for a minimal cross-sectional profile and easier insertion through standard trocar ports, addressing the limitations of existing systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a traditional robotic surgical system like Da Vinci is used, then surgical precision and automation are improved, but device complexity and cost increase significantly
Solution Approach 1:
The robotic system is divided into separate functional modules: a control console for surgical automation and a simpler robotic arm for execution. This segmentation allows the complex automation functions to be concentrated in the console while the robotic arm itself remains relatively simple, reducing overall system complexity while maintaining high automation capability.
Solution Approach 2:
A control console acts as an intermediary between the surgeon and the robotic arm, handling the complex automation and control algorithms. This intermediary approach allows the robotic arm to remain mechanically simple while still achieving high-level surgical automation through the intelligent control system.
2Measurement precision
If a traditional robotic system with large base is used, then surgical precision is improved, but the footprint and space requirements increase
Solution Approach 1:
The robotic arm is designed with a compact, space-efficient configuration that optimizes the arrangement of joints and components along the arm's length rather than requiring a large base footprint. This dimensional reorganization allows precision surgical capabilities to be achieved within a smaller overall footprint by utilizing the longitudinal dimension more effectively.
3Ease of operation
If standard trocar ports are used for insertion, then accessibility is improved, but the cross-sectional profile of the robotic device must be minimized
Solution Approach 1:
The robotic arm's cross-sectional dimensions are optimized to fit through standard trocar ports by carefully selecting and adjusting key geometric parameters of the arm's structure. The joint designs and component arrangements are parameter-optimized to achieve the smallest possible cross-sectional profile while maintaining the necessary degrees of freedom for surgical manipulation.
4Area of moving object
If a single-armed design is used, then the cross-sectional profile is reduced, but the dexterity and triangulation capability are compromised
Solution Approach 1:
The single robotic arm is designed with dynamic, actively controlled joints that can adjust their configuration in real-time to optimize dexterity and maintain triangulation capability. The shoulder joint with multiple degrees of freedom and the articulated wrist allow the arm to dynamically adapt its posture and orientation, compensating for the lack of a second arm while maintaining surgical versatility.
Data Source
AI summary
Disclosed herein are various robotic surgical devices and systems that include first and second elongate bodies, first and second driveshafts disposed through the second elongate body, and an in-line shoulder joint with a robotic arm coupled thereto. In certain implementations, the in-line shoulder joint has a differential yoke and a dual shaft disposed within the yoke lumen.