Modular Cable-Driven Surgical Robot With Elastic Antagonist
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Solution Overview
Problem
Conventional surgical robots are limited in their ability to reconfigure kinematic characteristics, leading to narrow usage in specific surgical domains and limited accessibility due to high costs and uneven distribution, restricting their application to various types of surgeries and limiting patient and surgeon access to advanced surgical technologies.
Innovation Solution
A modular cable-driven surgical robot with articulated links and joints featuring an elastic antagonist and a safety lock, allowing bidirectional actuation and customizable configurations, reducing the number of actuating cables and incorporating disposable components to lower costs and expand surgical capabilities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional surgical robots are designed with fixed kinematic characteristics, then they can provide precise and stable performance for specific surgical domains, but they become narrowly used and unable to adapt to other surgery types
Solution Approach 1:
The robot is divided into modular components including interchangeable end effectors, segmented arm structures, and independent cable-driven modules. This segmentation allows different surgical tools and configurations to be assembled for various surgical procedures while maintaining reliable performance through standardized modular interfaces
Solution Approach 2:
The robot employs dynamically reconfigurable kinematic structures through cable-driven actuation systems that can adjust arm configurations and end effector positions. The cable tensioning mechanisms enable dynamic adaptation of the robot's workspace and motion characteristics to match different surgical requirements
2Measurement precision
If surgical robots are designed with high precision and advanced features, then they can improve surgical outcomes, but they become expensive and inaccessible to most hospitals
Solution Approach 1:
The robot replaces complex mechanical actuation systems with cable-driven actuation mechanisms. This substitution simplifies the mechanical structure by eliminating numerous gears, belts, and motors within the arm, reducing device complexity while maintaining surgical precision through cable tension control
Solution Approach 2:
The cable-driven actuation system extracts and relocates the motor assemblies to external positions, with cables running through the arm structure. This extraction simplifies the internal arm mechanism, reducing device complexity while preserving precision through external motor control
3Ease of operation
If surgical robots use complex actuation systems with multiple cables, then they can achieve precise bidirectional control, but they increase device complexity and manufacturing costs
Solution Approach 1:
The robot employs elastic antagonists that act as counterweights to balance the cable-driven actuation system. These elastic elements provide bidirectional control by opposing cable tension, enabling precise control in both directions while reducing the number of active cables needed and simplifying the actuation system
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 modular design enables the surgical robot to adapt to various surgical procedures, reducing costs and increasing accessibility to high-quality surgical care by allowing customization and reducing the complexity of design and manufacturing, making robotic technology more affordable and widely available.
Implementation Method 1
the joint comprises an elastic antagonist biased in opposition to tension from the cable to allow bidirectional actuation of the joint
Data Source
AI summary
A surgical robot can be configured for minimally invasive surgery (MIS) and other types of surgery with modular link geometry and disposable components. In some examples, the surgical robot includes a cable driver comprising at least one drive motor configured for tensioning a cable. The surgical robot includes an articulated surgical tool coupled to the drive motor by the cable. The articulated surgical tool comprises at least first and second articulated links and a joint coupling the first and second articulated links. The cable passes through the joint, and the joint comprises an elastic antagonist biased in opposition to tension from the cable to allow bidirectional actuation of the joint. The surgical robot includes a safety lock configured to lock the joint from allowing articulation of the first and second articulated links in response to a loss of tension in the cable.