Microsurgery Observation Arm with Active-Passive Point Lock
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing medical observation devices for cranial neurosurgery are bulky due to complex configurations, making it difficult to perform precise point lock operations, which require both translational and tilting movements, and often result in the observation point being lost from the visual field during microsurgery.
Innovation Solution
A medical observation device with a simplified configuration that includes a holding unit with active and passive rotary shafts, where two shafts function as active shafts to control tilting and the others as passive shafts for translational movement, allowing for precise point lock operations with reduced size and weight, and employing force control for smooth movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a balance arm with double balance arms is used to mechanically regulate movement and realize point lock operation, then the point lock operation is achieved, but the device configuration becomes complicated and size increases
Solution Approach 1:
The holding unit is segmented into multiple rotary shafts (first through sixth rotary shafts) with distinct functions. The first and second rotary shafts are designated as active shafts for point lock operation, while the third through sixth rotary shafts are passive shafts for general positioning. This segmentation allows the system to achieve point lock operation without requiring all shafts to be active, thereby reducing overall device complexity while maintaining the desired operational capability.
2Ease of operation
If a robot arm with six degrees of freedom is used to hold the operating microscope, then the point lock operation can be realized through position control, but the joints become larger and the whole device increases in size
Solution Approach 1:
Instead of making all six rotary shafts active as in a traditional robot arm, the invention applies partial action by designating only the first and second rotary shafts as active shafts equipped with driving devices. The remaining third through sixth rotary shafts are passive shafts without driving devices. This partial activation achieves the point lock operation functionality while significantly reducing the size and complexity of the holding unit, as driving devices are not required in all joints.
3Measurement precision
If driving devices are mounted in all joints of a six-degree-of-freedom robot arm, then position control is achieved, but the joints further rearward require greater output and become larger
Solution Approach 1:
The holding unit is segmented into multiple rotary shafts (first through sixth rotary shafts) with distinct functions. The first and second rotary shafts are designated as active shafts for point lock operation, while the third through sixth rotary shafts are passive shafts for general positioning. This segmentation allows the system to achieve point lock operation without requiring all shafts to be active, thereby reducing overall device complexity while maintaining the desired operational capability.
Solution Approach 2:
Instead of making all six rotary shafts active as in a traditional robot arm, the invention applies partial action by designating only the first and second rotary shafts as active shafts equipped with driving devices. The remaining third through sixth rotary shafts are passive shafts without driving devices. This partial activation achieves the point lock operation functionality while significantly reducing the size and complexity of the holding unit, as driving devices are not required in all joints.
Data Source
Figure 1
Figure 2
Figure 3
AI summary
Provided is a medical observation device including: an imaging unit (110) configured to photograph an image of an operation site; a holding unit (120) configured to be connected with the imaging unit and have rotary shafts which are operable with at least six degrees of freedom. Among the rotary shafts, at least two shafts are active shafts (220, 230) whose driving is controlled based on states of the rotary shafts, and at least one shaft is a passive shaft which is rotated according to direct external manipulation accompanying contact.