Multi-segment Robotic Arm with Oblique Rotating Joints
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Solution Overview
Problem
Current robotic arms used in minimally invasive surgery are bulky, limit the surgical space, and have restricted joint rotation, making them unsuitable for complex internal spaces and increasing the risk of tissue damage due to their size and limited mobility.
Innovation Solution
A multi-segment rotation robotic arm with elliptical cylinder segments and a pivoting structure that allows 360-degree rotation along adjacent oblique sections, featuring a driving device with an electric motor and conductive ring connection for independent power and control, enabling precise movement and reduced volume.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If conventional robotic arms are used for minimally invasive surgery, then surgical instruments can be inserted through small incisions, but the robotic arms occupy considerable volume and limit the surgical space
Solution Approach 1:
The robotic arm is divided into multiple segments (first robotic arm segment, second robotic arm segment, third robotic arm segment) connected by rotating joints. Each segment can rotate independently around oblique sections, enabling the robotic arm to navigate complex internal spaces while maintaining a compact overall volume suitable for minimally invasive surgery
Solution Approach 2:
The robotic arm segments rotate around oblique sections (inclined at angles between 15-75 degrees relative to the segment axis) rather than perpendicular sections. This oblique rotation geometry allows the end effector to reach positions that would otherwise require much larger robotic arm volume, effectively utilizing three-dimensional space more efficiently
2Adaptability or versatility
If conventional robotic arms with limited joint rotation are used, then the robotic arm structure remains compact, but the joints cannot rotate sufficiently to reach complex internal spaces
Solution Approach 1:
The rotating joints are positioned at oblique sections rather than at the ends of robotic arm segments. This oblique positioning allows the joints to rotate through larger angles (including beyond 180 degrees in some configurations) without increasing the overall robotic arm volume, enabling access to complex curved internal spaces while maintaining a compact structure
Solution Approach 2:
Multiple robotic arm segments are nested together with rotating joints at their connections. The segments can be arranged in a compact configuration when not in use, and unfold/extend as needed to reach target positions, similar to a telescoping or nested structure, maximizing rotation range without permanently increasing volume
3Adaptability or versatility
If multiple robotic arms are used to install different micro-surgical instruments, then surgical functionality is enhanced, but the robotic arms restrict each other's movements due to space constraints
Solution Approach 1:
Each robotic arm is segmented into multiple independently controllable segments with oblique rotating joints. This segmentation allows multiple robotic arms to operate in the same surgical space with greater independence, as each arm can navigate around others more easily by adjusting individual segment orientations, reducing mutual interference while maintaining full surgical functionality
Solution Approach 2:
The robotic arm segments and joints are designed to be dynamically adjustable during surgery. The oblique rotating joints can change their orientation and rotation angles in real-time, allowing multiple robotic arms to dynamically coordinate their movements and avoid collisions, enhancing both functionality and ease of operation
4Measurement precision
If conventional robotic arms with complex mathematical operations are used for movement control, then positioning precision can be achieved, but calculation errors may cause the robotic arm to accidentally touch non-surgical tissues
Solution Approach 1:
The robotic arm system incorporates feedback mechanisms where the actual positions and orientations of the robotic arm segments are continuously monitored and compared with the planned trajectory. If deviations are detected that might lead to contact with non-surgical tissues, the system can correct the path in real-time, enhancing safety while maintaining positioning precision
Solution Approach 2:
The control system performs preliminary safety checks and path planning before executing robotic arm movements. By pre-calculating safe trajectories and identifying potential collision risks with non-surgical tissues, the system can prevent harmful contact before it occurs, reducing reliance on complex real-time mathematical operations during actual movement
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The robotic arm can navigate complex body cavities with enhanced mobility and accuracy, reducing the risk of tissue damage and expanding the surgical space, while maintaining efficient power transmission and control, thus improving the safety and efficiency of minimally invasive procedures.
Implementation Method 1
a driving device is located between two of the concatenated robotic arm segments... the driving device is used to drive the pivoting structure so that the two of the concatenated robotic arm segments move relatively to each other
Data Source
AI summary
Provided is a multi-segment rotation robotic arm which contains a plurality of concatenated robotic arm segments which can rotate 360 degrees along an adjacent oblique section thereof. Any one of the concatenated robotic arm segments of the multi-segment rotation robotic arm can be arbitrarily concatenate in accordance with use requirements. When the concatenated robotic arm segments rotate relatively, they can rotate 360 degrees without affecting the electric supply, and can also reduce the volume increase by rotated joints. Therefore, the multi-segment rotation robotic arm of the present invention can effectively adapt to complex and tortuous spaces in the body cavity to reduce the possibility of expanding the opening of the minimally invasive surgery and causing damage to organs or tissues in the body cavity.