Multi-Degree-of-Freedom Robot With Linear Motors for Microsurgery

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Solution Overview

Problem

Existing surgical robots face challenges in microsurgery due to large size, inaccurate rope-driven or hinge-driven wrist-like structures, and lack of flexible degrees of freedom, which hinder precise movements required for complex actions like microsurgical suture and knotting.

Innovation Solution

A multi-degree-of-freedom robot design incorporating linear motors and rotating motors in joints, with orthogonal and parallel configurations, and a damper mechanism to compensate for gravitational interference, enabling flexible linear and rotary motions in three axes.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If multiple rotating motors are connected in series to provide linear spatial freedom, then the robot can achieve flexible motion, but the overall robotic arms become relatively large and cannot meet narrow working space requirements for microsurgery

Engineering Contradiction:

Improveflexible motion capabilityVSAvoidrobotic arm size

Core Design Contradiction:

Adaptability or versatilityVSVolume of moving object

Solution Approach 1:

The patent replaces traditional rotating motors with linear motors to directly drive the end effector along linear paths. This substitution eliminates the need for complex rotational joints and intermediate transmission mechanisms, achieving flexible positioning in narrow spaces while maintaining compact dimensions suitable for microsurgery applications

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Adaptability or versatility

If rope-driven, wire-driven, or hinge-driven wrist-like structures are used to provide flexible swing angle, then the tool can achieve flexible rotation, but the structure cannot be miniaturized to ultra-small size required for microsurgery instruments

Engineering Contradiction:

Improveflexible swing angleVSAvoidwrist-like structure size

Core Design Contradiction:

Adaptability or versatilityVSVolume of moving object

Solution Approach 1:

The patent replaces complex rope-driven, wire-driven, or hinge-driven wrist-like structures with a linear motor system that directly actuates the end effector. This mechanical substitution eliminates bulky transmission components, enabling the wrist mechanism to be miniaturized to fit within the ultra-small size constraints of microsurgical instruments while maintaining flexible positioning capability

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The patent segments the motion control into independent linear motor units, each responsible for specific degrees of freedom. This segmentation allows each component to be optimized and miniaturized independently, achieving the required flexible swing angles in a compact configuration suitable for microsurgery

Inventive Principle:

Principle #1Segmentation

3Volume of moving object

If parallelogram or linear motors connected in parallel are used to miniaturize the robot, then the size and precision needs are met, but flexible degrees of freedom at ends cannot be provided due to lack of wrist-like structures

Engineering Contradiction:

Improverobot sizeVSAvoidflexible degrees of freedom

Core Design Contradiction:

Volume of moving objectVSAdaptability or versatility

Solution Approach 1:

The patent designs the linear motor system to perform multiple functions: it provides both the driving force for linear motion and inherently creates the wrist-like flexible positioning capability through its geometric configuration. This multi-functionality eliminates the need for separate wrist mechanisms while maintaining flexible degrees of freedom for complex surgical actions

Inventive Principle:

Principle #6Universality (Multi-functionality)

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 robot achieves high precision and compact size, allowing for flexible end-effector movements, improved positioning accuracy, and reduced joint tremor, facilitating complex surgical actions in narrow spaces.

Implementation Method 1

each joint is provided with a linear motor

Methodology Applied

Scientific EffectLinear motor: Linear Motor

Implementation Method 2

at least one of the first joint, the second joint, and the third joint further includes a rotating motor

Methodology Applied

Scientific EffectRotating motor: Linear Motor

Implementation Method 3

there is a large gravitational interference as the linear motor is affected by the gravity of the end-effector assembly

Methodology Applied

Scientific EffectGravitation: Gravitation

Implementation Method 4

an elastic force direction of the damper, that is, the elastic force direction of the coil spring is disposed opposite to the gravitational direction of end-effector assembly

Methodology Applied

Scientific EffectElastic force: Elasticity

Data Source

PatentUS20250319591A1Multi-degree-of-freedom robot and control method therefor

Publication Date: 2025.10.16 GUANGZHOU DEEPSURGERY MEDICAL INSTRUMENT TECHNOLOGY CO LTD

AI summary

The present invention relates to a multi-degree-of-freedom robot, including a first joint, a second joint, a third joint, and an end-effector assembly that are connected sequentially. The first joint, the second joint, the third joint, and the end-effector assembly each include at least one linear motor and an installing plate for installing the linear motor. At least one of the first joint, the second joint, and the third joint further includes a rotating motor. The three joints of the robot can not only implement linear motion in three axis directions, but also implement rotational motion in at least one of the directions, which ultimately enables the end-effector assembly to move more flexibly and reach a lesion position more easily.