Modular Microsurgical Robot with Virtual Wrist and Tremor Filtration
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Solution Overview
Problem
Microsurgery requires high concentration and precision, putting a significant physical and mental burden on surgeons, limiting the number of microsurgeons and leading to long waiting lists due to capacity issues, as existing robotic systems do not adequately provide motion scaling and tremor filtration with an ergonomically correct user interface.
Innovation Solution
A modular microsurgical robotic system with a 6 Degrees-of-Freedom master-slave setup and force feedback, featuring a central microscope-based suspension structure, symmetrical kinematic properties based on human hand anatomy, and differential gear modules for intuitive motion control, capable of multi-person operation and precision tasks.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robotic system is designed to provide motion scaling and tremor filtration for microsurgery, then the precision and ease of operation are improved, but the device complexity increases
Solution Approach 1:
The robotic system is divided into modular components: a master control unit with motion scaling and tremor filtration capabilities, a slave surgical instrument unit, and a suspension structure. Each module performs a specific function, allowing the complex system to be managed through standardized interfaces and independent optimization of each segment.
Solution Approach 2:
A virtual wrist joint is introduced as an intermediary element between the master control and slave instrument. This virtual joint serves as a mathematical model that enables motion scaling and tremor filtration without requiring complex mechanical transmission mechanisms, thereby reducing physical device complexity while maintaining precision.
2Ease of operation
If a master-slave configuration with motion scaling is implemented, then the ease of operation and ergonomics are improved, but the device complexity increases
Solution Approach 1:
The system replaces complex mechanical motion scaling mechanisms with a computational approach. The master control unit uses software-based motion scaling algorithms and tremor filtration to achieve ergonomic operation, eliminating the need for complex mechanical gear systems or linkages that would increase device complexity.
Solution Approach 2:
The master control unit is designed as a universal interface that can control different surgical instruments through standardized protocols. The motion scaling and tremor filtration functions are implemented as reusable software modules that can be applied across multiple surgical tasks and instrument types, reducing overall system complexity.
3Manufacturing precision
If a 6 DOF master-slave setup with force feedback is used, then the surgical precision and control are improved, but the device complexity and cost increase
Solution Approach 1:
A virtual wrist joint serves as a mathematical intermediary that enables 6 DOF motion control without requiring complex mechanical wrists. The virtual joint is implemented through software calculations that map master controller movements to slave instrument positions, achieving precise positioning while avoiding complex mechanical differentials or parallel mechanisms.
Solution Approach 2:
The system creates a virtual model of the surgical instrument and its motion constraints. This digital twin allows the control system to simulate and enforce 6 DOF kinematic constraints through computation rather than physical mechanisms, achieving manufacturing precision without the complexity of mechanical replication.
Data Source
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AI summary
Designs for modular microsurgical robotic devices and systems are provided, which could include one or multiple master-slave units coupled to a central microscope-based suspension structure. One of the main objectives is to provide robotic assistance during tasks which require long-term user concentration and high precision. The microsurgical robotic devices pay attention to motion scaling and tremor filtration in a 6 Degrees-of-Freedom (DOF) master-slave setup with force feedback. An extra DOF is included to actuate a 1-DOF instrument tip. Embodiments of this invention can be used in the medical environment as well as in other areas such as printed circuit board repair, watch and jewelry making, laboratory tasks, or other areas which require high precision over extended periods of time.