Microsurgical Robot Arm Link Ratios for Dexterity and Clear Views
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Solution Overview
Problem
Existing surgical robots lack sufficient dexterity and precision, and their arm lengths are suboptimal, leading to potential collisions and obstruction of the surgical view during microsurgery or super-microsurgery procedures.
Innovation Solution
A robot arm with specific arm element length ratios and joint configurations, including six degrees of freedom, to enhance dexterity and prevent collisions while maintaining a clear surgical view, using reduced voltages and insulated covers to manage temperature and improve safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional robot arm link lengths are used, then the robot structure is simpler, but the dexterity and precision are insufficient for complex microsurgical movements
Solution Approach 1:
The patent applies parameter changes by optimizing the link lengths of the robot arm to specific ratios (L1:L2:L3 = 1.00:1.05:1.00 to 1.05:1.10:1.05) to enhance dexterity and precision for microsurgical operations while maintaining structural feasibility
2Stability of the object's composition
If robot arm parts are made larger to improve structural stability, then the arm becomes more stable, but it obstructs the operator's view of the surgical site
Solution Approach 1:
The patent optimizes the link length parameters to achieve a balance where the robot arm maintains sufficient structural stability while minimizing the obstruction of the surgical view, allowing clear visualization of the surgical site
3Measurement precision
If the robot arm is designed for high precision and dexterity, then manipulation accuracy improves, but the risk of collision with other objects increases
Solution Approach 1:
The patent adjusts the link length ratios and joint configuration parameters to enable high-precision manipulation while improving collision avoidance capability through optimized arm geometry and reduced workspace interference
Data Source
AI summary
The present invention relates to a robot arm for use in surgery, microsurgery or super-microsurgery, said robot arm comprising: a first, proximal arm element having a first arm length, the proximal arm element being connected to a first, proximal joint having a first roll and a first pitch, and a second, intermediate joint having a second roll and a second pitch; a second, intermediate arm element having a second arm length, the intermediate arm element being connected to the intermediate joint and a third, distal joint having a third roll and a third pitch, and a third, distal arm element having a third arm length, the third arm element being connected to the distal joint, wherein the ratios between the first to second to third arm element lengths are: (1.00+−10%):{(1.00 to 1.05)+−10%}:(0.60+−10%).