Modular Surgical Robot Arm With Offset Yaw Axes for Gimbal Lock
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Solution Overview
Problem
Surgical robot arms often experience a gimbal lock phenomenon when the yaw axis coincides with the instrument's roll axis, limiting the range of motion and causing complications during minimally invasive surgeries.
Innovation Solution
The surgical robot arm is designed with a first yaw axis and a remote center of motion (RCM) that are formed differently, allowing the surgical instrument to be disposed in a horizontal direction without inducing gimbal lock, and enabling a more compact and rigid configuration by incorporating modular design and multiple yaw axes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the yaw axis coincides with the instrument's roll axis to simplify the structure, then the device complexity is reduced, but the gimbal lock phenomenon occurs limiting the range of motion
Solution Approach 1:
The patent applies asymmetry by deliberately misaligning the first yaw axis with the instrument's roll axis. The first yaw axis is positioned at an offset from the roll axis, creating an asymmetric configuration that prevents the gimbal lock phenomenon while maintaining structural feasibility. This asymmetric design allows the surgical instrument to achieve full rotational freedom without the mechanical constraints that would result from perfect alignment.
2Adaptability or versatility
If multiple yaw axes are incorporated to prevent gimbal lock, then the range of motion is enhanced, but the device complexity increases
Solution Approach 1:
The patent segments the rotational degrees of freedom into distinct components: a first yaw axis for horizontal rotation and a roll axis for instrument orientation. By dividing the rotational movement into separate segmented axes rather than a single complex axis, the system achieves enhanced range of motion while keeping each individual axis relatively simple in design.
Solution Approach 2:
The patent introduces an intermediary mechanism between the base and the surgical instrument that mediates the transformation of rotational movements. This intermediary structure converts the motion from the first yaw axis and roll axis into coordinated instrument orientation, allowing complex multi-axis movement to be achieved through a structured intermediate transformation stage.
3Ease of operation
If the surgical instrument is disposed in a horizontal direction for optimal surgical access, then the ease of operation is improved, but the gimbal lock phenomenon is induced when the yaw axis aligns with the roll axis
Solution Approach 1:
The patent employs asymmetry in the axis configuration to decouple the horizontal instrument positioning from the gimbal lock risk. By offsetting the first yaw axis from the roll axis, the system allows the instrument to be disposed horizontally for optimal surgical access while the asymmetric axis arrangement prevents the coincidental alignment that causes gimbal lock.
Data Source
AI summary
Provided is a surgical robot arm, and more particularly, to a minimally invasive surgical robot arm that is formed in a modular manner for use in a laparoscopic surgery or other various surgeries.