Modular Surgical Manipulator Clamps for Variable Rail Sizes
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Solution Overview
Problem
Existing modular systems for mounting robotic manipulators require specific dimensions that match the mounting structures, limiting their usability with differently sized structures, and lack flexibility in accommodating various rail sizes and shapes.
Innovation Solution
A clamping apparatus with movable jaws along a non-linear path and adjustable features to accommodate mounting structures of different sizes, including adjustable clamps with electro-mechanical and mechanical actuation, allowing secure attachment to various rail sizes and shapes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If arrangeable clamps are designed with specific dimensions to match mounting structures, then secure mounting is achieved, but versatility with different mounting structure sizes is lost
Solution Approach 1:
The clamp incorporates a movable jaw that can dynamically adjust its position along a non-linear path, allowing the clamp to adapt to different mounting structure sizes while maintaining secure engagement. This dynamic adjustment capability enables the same clamp design to work with multiple mounting structure dimensions without sacrificing mounting reliability.
Solution Approach 2:
The clamp design utilizes non-linear path geometry that changes the effective engagement parameters based on the mounting structure size. By incorporating cam slots with non-linear paths, the clamp automatically adjusts its clamping force and jaw position according to the specific dimensions of the mounting structure, achieving both secure mounting and versatility.
2Ease of manufacture
If modular systems use fixed-dimension clamps, then manufacturing simplicity is maintained, but flexibility in accommodating various rail sizes is reduced
Solution Approach 1:
The clamp is divided into distinct functional components including a body, movable jaw, and cam slot mechanism. This segmentation allows each component to be manufactured independently using standard processes, while the assembly of these components creates the adaptive functionality needed for versatile mounting without increasing manufacturing complexity.
3Device complexity
If clamps use linear jaw movement, then mechanical simplicity is maintained, but ability to accommodate different rail sizes is limited
Solution Approach 1:
The cam slots are designed with non-linear, curved paths instead of straight lines. This curvature allows the movable jaw to follow a complex trajectory that automatically adjusts the clamping geometry to match different mounting structure dimensions, achieving versatility without requiring multiple clamp designs.
Data Source
AI summary
A clamping apparatus comprises a body having a mounting location configured to support the surgical manipulator; an articulatable bracket a coupled to the body; a first jaw coupled to the body and configured to engage a first portion of the mounting structure; and a second jaw coupled to the bracket and configured to engage a second portion of the mounting structure. The articulatable bracket is configured to articulate relative to the body along a segmented path comprising multiple directions to move the second jaw from an unclamping position to a range of clamping positions. The second jaw is further from the body in the clamping positions than in the unclamping position, and is closer to the first jaw in the clamping positions than in the unclamping position.