Modular Robotic System Combining Open and Closed Chains
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Solution Overview
Problem
Medical robotic systems face limitations in versatility and precision due to their design as either open-chain or closed-chain systems, with open-chain systems offering wide range of motion but less precision and rigidity, and closed-chain systems providing precision but limited range of motion and compliance issues.
Innovation Solution
A modular multi-robotic system combining open-chain and closed-chain robotic subsystems, allowing for different configurations to suit specific medical applications, featuring a Linear Drive Train System, Rotary Table System, Parallel Robotic Linkage System, and interchangeable End Effector Platforms, enabling hybrid functionality.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If an open-chain robotic manipulator is used, then the working envelope and range of motion are large, but the rigidity and precision are reduced
Solution Approach 1:
The robotic system is divided into multiple independent robotic arms (first robotic arm, second robotic arm, third robotic arm) that can operate independently. Each arm can be optimized for specific tasks, with some providing range of motion and others providing precision, allowing the system to achieve both large working envelope and high positioning precision through coordinated operation of segmented components.
2Manufacturing precision
If a closed-chain robotic manipulator is used, then the stiffness and precision are improved, but the working envelope and compliance are reduced
Solution Approach 1:
The system merges multiple robotic arms with different kinematic characteristics into a single coordinated system. By combining arms with large working envelopes and arms with high precision capabilities, the system achieves both large working envelope and high positioning precision simultaneously, resolving the contradiction between these two parameters.
3Device complexity
If a single-type robotic system is used, then the design is simpler, but the versatility for different medical applications is limited
Solution Approach 1:
The robotic system is designed with universal end effectors and interchangeable tool interfaces that can accommodate different surgical instruments and medical tools. The multiple robotic arms can perform various medical procedures including surgery, radiation therapy, and diagnostic imaging, making the system highly versatile while maintaining relatively simple individual component designs.
Data Source
AI summary
A modular multi-robotic manipulator system for multi-purpose image-guided surgical and diagnostic applications combining multiple open-chain and closed-chain robotic subsystems.