Modular Surgical Robot Layout With Shared Coordinate Control
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Solution Overview
Problem
Existing multi-arm robotic surgical systems have integration issues into surgical workflows, large footprints in operating rooms, and inferior control accuracy due to separate robotic arms operating in different coordinate spaces, often requiring manual coordination by physicians.
Innovation Solution
A modular surgical robotic system with separably joined robotic chassis forming a common robotic coordinate system, allowing multiple robotic arms to be positioned on opposite sides of a surgical bed and controlled by a central unit, enhancing kinematic control and accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple robotic arms are deployed on separate carts with remote control, then the system can perform complex surgical procedures, but the control accuracy and coordination precision deteriorate due to separate robotic coordinate spaces
Solution Approach 1:
The patent merges multiple separate robotic carts into a single integrated platform where all robotic arms share a common coordinate system and central control unit. This consolidation eliminates the coordination problems inherent in separate systems while preserving the ability to perform complex multi-arm surgical procedures simultaneously.
Solution Approach 2:
The system is divided into multiple independent robotic arms that can be selectively activated, each with its own end effector for different surgical tasks. This segmentation allows versatile surgical capabilities while maintaining precise control through the unified coordinate system.
2Ease of operation
If multiple robotic arms are positioned on opposite sides of the surgical bed, then reachability and maneuverability improve, but the operating room footprint increases
Solution Approach 1:
The robotic arms are positioned in three-dimensional space above and below the surgical bed rather than requiring extensive horizontal space. The arms can be deployed vertically and laterally from the integrated platform, achieving broad reachability without proportionally increasing the horizontal footprint on the surgical table.
Solution Approach 2:
The robotic arms are designed with dynamic positioning capabilities, allowing them to move between retracted and extended positions. This enables the system to provide maximum reachability when needed while minimizing the occupied space during non-use periods.
3Ease of manufacture
If robotic arms are controlled by a physician closing the loop manually, then the system can be operated with existing infrastructure, but productivity and surgical efficiency deteriorate due to inferior control precision
Solution Approach 1:
The system incorporates automated control features where the robotic arms can execute precise movements based on pre-programmed sequences or real-time guidance from the common coordinate system. This automation handles the precision control tasks, allowing the physician to focus on surgical decision-making rather than manual coordination.
Solution Approach 2:
The integrated platform provides real-time feedback to the control unit about the position and status of all robotic arms within the common coordinate system. This enables precise control and monitoring, significantly improving surgical efficiency compared to manual coordination methods.
Data Source
AI summary
A surgical robotic system includes two or more mobile robotic carts that can be separably joined together in a selected, fixed pattern and deployed at least partially beneath a surgical table. The mobile carts carry robotic arms that are controlled by a common controller in a common surgical coordinate system. By selecting separation distances between individual robotic carts, the robotic system can be arranged to perform different surgical procedures.