Orthopedic Robot Arm and Linkage for Portable Bone Saw Positioning
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Solution Overview
Problem
Existing orthopedic surgical robots with high output torque and power are large in size, making them unsuitable for deployment in complex environments and emergency scenarios.
Innovation Solution
A portable orthopedic surgical robotic system with a robotic arm, multi-link mechanism, and bone saw, where the robotic arm provides a locked working point, and the bone saw operates in a locked working plane without requiring high output torque and power, allowing miniaturization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot is designed with high output torque and high output power to drive the bone saw, then the bone saw can operate reliably, but the robot becomes large in size and is not suitable for deployment in complex environments and emergency scenarios
Solution Approach 1:
The system is divided into two independent parts: a portable robotic arm for positioning and a separate powered bone saw for cutting operations. The robotic arm only needs to provide positioning accuracy without requiring high torque and power, while the bone saw has its own independent power source. This segmentation allows the robotic arm to be miniaturized for portable use while maintaining reliable bone saw operation through its separate power system.
Solution Approach 2:
A multi-link mechanism serves as an intermediary between the robotic arm and the bone saw. This mechanism includes a first link coupled to the robotic arm distal end and a second link with movable connection that provides a locked working plane. The intermediary mechanism translates the positioning capability of the robotic arm into a stable working plane for the bone saw, allowing the robotic arm to remain lightweight while supporting reliable bone saw operation.
2Volume of moving object
If the robotic arm is miniaturized to reduce size for portable deployment, then portability is improved, but the output torque and power are reduced which may affect operation capability
Solution Approach 1:
The system separates the force generation function from the positioning function. The robotic arm is miniaturized to perform only positioning tasks with low torque requirements, while the bone saw's cutting force is generated by its own independent power source. This functional segmentation allows the robotic arm to be small and portable without compromising the force capability needed for bone cutting operations.
Solution Approach 2:
The high torque and power requirements are extracted from the robotic arm and transferred to the bone saw's independent power system. The robotic arm is taken out of the requirement to provide high output torque, allowing it to be miniaturized for portable deployment while the bone saw independently provides the necessary cutting force through its own powered system.
3Measurement precision
If a multi-link mechanism is added to provide a locked working plane, then positioning accuracy is improved, but device complexity increases
Solution Approach 1:
The multi-link mechanism is segmented into a first link coupled to the robotic arm and a second link with movable connection. This segmentation allows the complex positioning function to be distributed across simple, modular components that can be easily assembled and integrated, reducing the overall complexity while maintaining high positioning accuracy through the locked working plane capability.
Data Source
AI summary
An orthopedic surgical robot system; the orthopedic surgical robot system comprises: a robotic arm (10), a distal end (170) of the robotic arm (10) being used for providing a locked working point (O) for the orthopedic surgical robot system; a multi-link mechanism (20), wherein the multi-link mechanism (20) comprises: a first link (210), the first link (210) being coupled to the distal end (170) of the robotic arm (10); and a second link (220), a proximal end of the second link (220) being connected to the first link (210) in a movable manner, so that the movement of the second link (220) relative to the first link (210) provides the orthopedic surgical robot system with a locked working plane relative to the locked working point (O); a bone saw (30), the bone saw being coupled to the distal end of the second link (220) and operable in the locked working plane; and a control system (40), the control system (40) being coupled to the robotic arm (10), and controlling, on the basis of a basic control amount of the robotic arm (10) and the position of an actual working point (O) of the distal end (170) of the robotic arm (10), the distal end (170) of the robotic arm (10) to be stable at the locked working point (O).