Planar Remote Center of Motion Assemblies for Robotic Microsurgery
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Solution Overview
Problem
Standard laparoscopic robotic devices are bulkier and unsuitable for minimally invasive microsurgery, as they cannot position two or more surgical instruments with remote centers of motion in close proximity, limiting their effectiveness in microsurgical procedures.
Innovation Solution
A system comprising two assemblies with planar remote centers of motion devices that constrain surgical instrument axes to pass through a remote center of motion, allowing for precise positioning and rotation of instruments within a small distance, enabling the simultaneous use of multiple instruments in close proximity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If standard laparoscopic robotic devices are used, then teleoperated robotic surgery is achieved, but the bulkiness prevents positioning two or more surgical instruments with remote centers of motion in close proximity
Solution Approach 1:
The system divides the robotic surgical system into multiple independent assemblies, each with its own planar remote center of motion device. This segmentation allows each assembly to be independently positioned and controlled, enabling close proximity placement of multiple instruments without the bulkiness of a single integrated system.
Solution Approach 2:
The patent introduces planar remote centers of motion that constrain instrument axes to pass through a remote center while remaining in a planar region. This dimensional constraint allows multiple instruments to operate in close proximity by defining specific motion planes, effectively using dimensional organization to resolve the spatial conflict caused by device bulkiness.
2Manufacturing precision
If multiple surgical instruments with remote centers of motion are positioned in close proximity, then microsurgery precision is improved, but device complexity increases
Solution Approach 1:
Each assembly in the system is designed as a universal module containing a planar remote center of motion device and rotational device that can accommodate different surgical instruments. This multi-functionality allows the same complex mechanism to serve multiple purposes, reducing overall system complexity while maintaining microsurgery precision through standardized interfaces and common control architecture.
Solution Approach 2:
The patent combines the planar remote center of motion device and rotational device into integrated assemblies, merging multiple functions into unified structures. This consolidation reduces the number of separate components and simplifies the control system, making the complex system more manageable while maintaining the precision required for microsurgery.
Data Source
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AI summary
A system for microsurgery includes a first assembly and a second assembly, each including: (1) a planar remote center of motion (RCM) device configured to constrain motion of a surgical instrument attached to the planar RCM device such that an axis of the surgical instrument passes through the RCM while remaining in a planar region defined based on a rotational orientation of the planar RCM device; and (2) a rotational device attached to the planar RCM device and configured such that an axis of rotation of the rotational device passes through the remote center of motion. The rotational orientation of the planar RCM device is defined about the axis of rotation. The first assembly and the second assembly are configured to be positioned such that a distance between the remote centers of motion of the first assembly and the second assembly is no greater than two centimeters.