Multi-Port Surgical Manipulator Layout for Fixed RC Repositioning
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Solution Overview
Problem
Current minimally invasive robotic surgery systems face limitations in maneuverability, space utilization, setup efficiency, collision prevention, and mechanical complexity, which hinder their effectiveness and ease of use in operating rooms.
Innovation Solution
The proposed robotic surgery system incorporates an orienting platform with a support linkage that includes reorientation mechanisms, such as tornado rotational joints, to maintain a fixed remote center of manipulation, allowing for repositioning of surgical instruments without applying dangerous forces to the patient, and features a modular design with movable floor-supported mounting bases and adjustable linkages to enhance maneuverability and reduce mechanical complexity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional fixed robotic manipulators are used, then surgical precision is maintained, but maneuverability and space utilization are limited
Solution Approach 1:
The robotic system is divided into multiple independent manipulators, each with its own mounting base and support linkage. This segmentation allows each manipulator to be independently positioned and oriented, improving maneuverability while keeping individual units mechanically simpler
Solution Approach 2:
The mounting bases are made movable rather than fixed, allowing dynamic repositioning of manipulators during surgery. The support linkages provide adjustable positioning capabilities, enabling the system to adapt to different surgical scenarios and improve space utilization
2Manufacturing precision
If complex support structures are added to improve positioning precision, then setup time increases and mechanical complexity grows
Solution Approach 1:
The mounting bases are pre-equipped with adjustment mechanisms and positioning features that allow for quick setup. The support linkages are designed with preliminary alignment capabilities, enabling rapid deployment without requiring complex post-installation adjustments
Solution Approach 2:
The support linkages incorporate self-aligning features and automatic positioning mechanisms that reduce the need for manual adjustment and complex setup procedures, thereby reducing setup time while maintaining positioning precision
3Adaptability or versatility
If multiple robotic manipulators are deployed to handle multiple surgical instruments, then surgical capability is enhanced, but collision risk increases
Solution Approach 1:
Each manipulator is mounted on a separate movable base that can be positioned in different locations around the patient. This spatial distribution across multiple dimensions reduces the likelihood of manipulator collisions while maintaining comprehensive surgical capability
4Area of stationary object
If fixed mounting structures are used for robotic manipulators, then structural stability is maintained, but space utilization and maneuverability are reduced
Solution Approach 1:
The mounting bases are designed to be movable rather than fixed, allowing the system to adapt to different operating room layouts and improve space utilization. The support linkages provide stable positioning once deployed, maintaining structural stability during surgical operations
Data Source
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AI summary
A robotic surgery system includes an orienting platform, a support linkage movably supporting the orienting platform, a plurality of surgical instrument manipulators, and a plurality of set-up linkages. Each of the manipulators includes an instrument holder and is operable to rotate the instrument holder around a remote center of manipulation (RC). At least one of the manipulators includes a reorientation mechanism that when actuated moves the attached manipulator through a motion that maintains the associated RC in a fixed position.