Nested Proximal Link Layout for Table-Mounted Manipulator Clearance
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Table-mounted manipulator systems face challenges with space constraints and interference issues due to manipulators being affixed to the table, obstructing tasks such as patient transfer and compromising sterility when stowed, and moving manipulators along a rail does not fully resolve these issues.
Innovation Solution
The system allows manipulators to be positioned in a nested configuration, with proximal links oriented at angles of 180 degrees or greater relative to the rail, enabling them to overlap and clear space on the table while maintaining sterility, using coupling portions with joints to facilitate this configuration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If manipulators are affixed to the table assembly, then they remain stable and maintain sterility, but they obstruct space needed for tasks like patient transfer and equipment access
Solution Approach 1:
The manipulator system employs dynamic positioning capabilities where the manipulator can be moved along the rail between a stowed position (clearing space on the table) and a deployed position (providing full functionality). This dynamic repositioning resolves the contradiction by allowing the system to adapt its spatial footprint based on operational requirements.
Solution Approach 2:
The manipulator is designed to nest alongside the table assembly when in the stowed position, with its proximal links positioned adjacent to the table's longitudinal side. This nesting configuration minimizes the space occupied by the manipulator while maintaining its readiness for deployment, effectively resolving the space obstruction issue.
2Area of stationary object
If manipulators are moved away from the table to clear space, then space is available for tasks, but manipulators cannot maintain sterility when stowed
Solution Approach 1:
A sterile drape is introduced as an intermediary barrier between the manipulator and the non-sterile environment. The drape maintains the manipulator's sterility even when positioned in the stowed configuration alongside the table, allowing the system to clear space while preserving the sterile field through the protective barrier.
3Area of stationary object
If manipulators are positioned to clear space on the table, then space is available for personnel and equipment, but manipulator links may interfere with each other
Solution Approach 1:
The manipulator system utilizes vertical stacking of proximal links in the stowed position, transitioning from a horizontal arrangement to a vertical arrangement. This dimensional change allows multiple manipulator links to occupy the same longitudinal space at different heights, clearing the lateral space on the table while avoiding interference between links through vertical separation.
Data Source
AI summary
A teleoperable manipulator system includes a table assembly, a rail coupled to the table assembly, and first and second manipulators coupled to the rail. The table assembly includes a platform configured to support a body. The first and second manipulators include respective proximal arms coupled to the rail and respective distal portions coupled to the proximal arms and configured to support an instrument mounted thereon. The proximal arms of the first and second manipulators are translatable relative to the rail along a longitudinal dimension of the rail and are rotatable relative to the rail about a first axis perpendicular to the longitudinal dimension of the rail. The proximal arms of the first and second manipulators are positionable in a nested configuration relative to one another.