Orthogonal Master Manipulator for Compact Surgical Robot Control
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Solution Overview
Problem
Conventional minimally invasive surgical robots have complex structures, large volumes, and long data processing times due to extensive data handling by the control center, leading to delays and increased manufacturing costs.
Innovation Solution
A master manipulator design with interconnected modules, including first, second, and third master manipulator modules perpendicular to each other, connected by arms and driven by a belt transmission mechanism, with centralized centers of mass for simplified data processing and reduced vertical size.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If all axes of the master manipulator generate movement when the control center processes the signal, then the surgical operation can be completed, but the amount of data processed by the control center is large, causing a long data processing time and a delay from the hand action to the surgery action
Solution Approach 1:
The master manipulator is divided into multiple independent modules (first master manipulator module, second master manipulator module, third master manipulator module), each capable of independent movement and signal generation. This segmentation allows only the actively manipulated module to generate movement signals, rather than all axes generating signals simultaneously, thereby reducing the total data processing load on the control center and shortening the delay between hand action and surgery action.
2Manufacturing precision
If a complex structure with multiple degrees of freedom is used to achieve precise surgical operation, then the surgical precision is improved, but the structure of the master manipulator becomes complex and the volume increases
Solution Approach 1:
The master manipulator is divided into three independent modules, each with its own driving mechanism and degree of freedom. This segmentation allows each module to be optimized independently for precision while keeping individual module structures simple. The modular design reduces overall structural complexity compared to a single complex multi-degree-of-freedom mechanism, as each module can be manufactured and assembled separately with standardized components.
Solution Approach 2:
The three master manipulator modules are arranged in different spatial dimensions (perpendicular to each other), with the first module along the longitudinal direction, the second module in the vertical direction, and the third module in the transverse direction. This spatial arrangement achieves multiple degrees of freedom without requiring a complex single-structure design, allowing precise surgical operation while maintaining relatively simple individual module structures and reducing overall volume.
3Adaptability or versatility
If the master manipulator has a large volume to accommodate multiple degrees of freedom, then the structural requirements are met, but the size of the surgical robot increases, especially the size in the vertical direction, causing interference with other components
Solution Approach 1:
The three master manipulator modules are arranged in different spatial dimensions (perpendicular to each other), utilizing longitudinal, vertical, and transverse directions separately. This three-dimensional spatial arrangement allows the system to achieve multiple degrees of freedom without increasing the volume of any single module excessively. Each module operates in its own dimensional space, reducing overall robot size and avoiding vertical direction interference with other components while maintaining full adaptability for surgical operations.
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 design achieves a compact structure with high precision, minimizes vertical interference, and simplifies data processing, reducing delays and manufacturing costs while maintaining precise surgical control.
Implementation Method 1
the driving member is connected to the third master manipulator module through a belt transmission mechanism in a power transmitted manner
Data Source
AI summary
A master manipulator includes a first master manipulator module, a second master manipulator module, and a third master manipulator module which are perpendicular to each other, an output end of the third master manipulator module is connected to an input end of the second master manipulator module; an output end of the second master manipulator module is connected to an input end of the first master manipulator module; the first master manipulator module can be connected to a main controller. The minimally invasive surgery robot master manipulator is simple and compact in structure, and can realize a high-precision surgical operation; moreover, the master manipulator modules are located above a transverse third master arm, thereby reducing the size of each master manipulator in a vertical direction, and effectively avoiding interference between the master manipulator and other components in the vertical direction.