Multi-Port Surgical Robot Reorientation Around a Fixed RC
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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 movable support linkages that maintain a fixed remote center of manipulation, utilizing a tornado rotational joint and tornado link mechanism to reposition surgical instruments without applying dangerous forces to the patient, along with a modular manipulator support system that includes a movable floor-supported mounting base and adjustable linkages to enhance maneuverability and reduce mechanical complexity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional fixed manipulator structures are used, then structural stability is maintained, but maneuverability and space utilization are limited
Solution Approach 1:
The manipulator support system is divided into multiple independent components: a movable mounting base, adjustable support linkages, and individual manipulator assemblies. Each segment can be independently positioned and adjusted, enabling flexible reconfiguration without requiring complex integrated mechanisms.
Solution Approach 2:
The system transitions from fixed manipulator mounting to dynamic, movable support structures. The mounting base can be repositioned on the operating room floor, and support linkages can be adjusted to accommodate different surgical configurations, enhancing maneuverability while maintaining structural stability during operation.
2Adaptability or versatility
If multiple robotic arms are used, then surgical capability is enhanced, but collision risk and space requirements increase
Solution Approach 1:
The control system incorporates real-time monitoring of manipulator positions and orientations, with feedback mechanisms that detect potential collisions between multiple robotic arms. The system automatically adjusts trajectories and positioning to prevent harmful interactions while maintaining enhanced surgical capability through multi-arm coordination.
3Manufacturing precision
If complex linkage mechanisms are used to maintain remote center of manipulation, then surgical precision is improved, but setup time and mechanical complexity increase
Solution Approach 1:
The system incorporates pre-configured support linkages with adjustable lengths and angles that can be quickly set to standard positions before surgery. The mounting base and manipulator assemblies are designed with preliminary alignment features, reducing the time required for setup while maintaining the precision needed for remote center of manipulation control.
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.