Robotic Microsurgery Assembly with Nested Manipulators
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Solution Overview
Problem
Current robotic surgery systems face challenges in versatility, particularly in microsurgery, as they often clutter the operating arena and require complex control systems for precise instrument positioning, making it difficult for surgeons to switch between robotic-aided and traditional microsurgery without increasing system complexity or reducing comfort.
Innovation Solution
A robotic surgery assembly featuring a macro-positioning arm with paired motorized manipulators, each with orthogonal sliders, and a transmission component that allows for converging surgical instrument shafts to share a working volume, enabling precise positioning and easy switching between robotic and traditional microsurgery modes while maintaining surgeon comfort.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If robotic arms and manipulators are added to enable robotic-aided microsurgery, then surgical precision and automation are improved, but device complexity and operating arena clutter increase
Solution Approach 1:
The patent implements nesting by integrating the motorized manipulators within the structure of the macro-positioning arm itself. The manipulators are housed within the arm's links and joints, allowing the robotic functionality to be contained within the existing surgical microscope support structure rather than adding separate external robotic systems. This reduces overall system complexity while maintaining precision.
Solution Approach 2:
The macro-positioning arm is designed to serve multiple functions: it positions the surgical microscope, houses the motorized manipulators for surgical instruments, and provides stable support structures. This multi-functionality reduces the need for separate dedicated robotic systems, thereby reducing device complexity while maintaining surgical precision through the integrated manipulators.
2Manufacturing precision
If multiple motorized manipulators are integrated into the macro-positioning arm, then instrument positioning precision is improved, but ease of operation deteriorates due to complex control requirements
Solution Approach 1:
The patent merges the control of multiple motorized manipulators into a unified control system that manages all manipulators through a single integrated interface. The control system coordinates the manipulators' movements collectively rather than requiring separate control for each manipulator, simplifying the operator's interaction while maintaining precise positioning through the combined manipulator system.
3Manufacturing precision
If the robotic system is designed with fixed configuration, then manufacturing precision is improved, but adaptability deteriorates when switching between robotic and traditional microsurgery
Solution Approach 1:
The patent implements dynamics by making the macro-positioning arm and manipulators movable and adjustable rather than fixed. The arm can be repositioned to different locations and orientations, and the manipulators can be adjusted to accommodate different surgical instrument configurations. This dynamic design allows the system to adapt between robotic-aided and traditional microsurgery modes while maintaining positioning accuracy through motorized control.
Data Source
AI summary
Described herein is a robotic surgery assembly for robotic-aided microsurgery including a macro-positioning passive arm having a plurality of arm links connected one another in series and articulated through rotational joints. The assembly also includes two motorized manipulators both attached to a same link of the macro-positioning passive arm. The macro-positioning passive arm includes at least one handle for the hand manipulation of the macro-positioning arm by an operator.