Rail-Mounted Manipulator Layout for Flexible Table Access
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Solution Overview
Problem
Table-mounted manipulator systems face challenges with space constraints and limited manipulator positioning due to being affixed to the table, leading to interference and reduced reach during medical procedures.
Innovation Solution
A teleoperable manipulator system with a rail-coupled manipulator that allows translation, extension, and rotation along multiple axes, including asymmetrical arm designs and a wrist with three degrees of freedom, enabling increased reach and flexibility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manipulators are affixed to the table assembly, then the manipulators remain stable and positioned during procedures, but the manipulators interfere with personnel and equipment movement and limit reach to certain patient locations
Solution Approach 1:
The manipulator system transitions from a static, fixed mounting to a dynamic, movable mounting on the rail. The manipulator can be repositioned along the rail to different locations and adjusted to various angles, allowing the system to adapt to different procedural needs and patient configurations while maintaining stable operation once positioned.
Solution Approach 2:
The manipulator system is divided into separable components that can move independently along the rail. The manipulator arm can be decoupled from fixed table constraints and repositioned to different segments of the rail, enabling flexible positioning without compromising operational stability during procedures.
2Device complexity
If manipulators are mounted directly to the table assembly, then the system structure is simplified, but the manipulators cannot be easily moved out of the way when open space is needed around the table
Solution Approach 1:
The manipulator mounting transitions from a fixed, static connection to a dynamic, movable connection along the rail. This allows the manipulator to be easily repositioned to different locations or moved out of the way when needed, while the overall rail-manipulator structure remains relatively simple and integrated with the table assembly.
3Length of moving object
If the manipulator arm is extended to reach distant patient locations, then the reach is increased, but the manipulator structure becomes more complex and harder to control
Solution Approach 1:
Instead of simply extending the manipulator arm in a straight line to increase reach, the system utilizes motion along the rail in one dimension combined with articulation at multiple joints in other dimensions. This multi-dimensional approach allows the manipulator to reach distant locations without requiring an excessively long or complex single-axis extension.
Solution Approach 2:
The manipulator arm is divided into multiple articulated segments or links rather than a single long rigid structure. This segmentation allows the arm to reach distant locations through coordinated motion of multiple joints, reducing the complexity of any single structural component while achieving the desired reach.
Data Source
AI summary
A teleoperable manipulator system can comprise a table assembly, a rail coupled to the table assembly, and a manipulator coupled to the rail. The table assembly comprises a platform configured to support a body, the platform having lateral and longitudinal dimensions. The manipulator is translatable relative to the rail along a longitudinal dimension of the rail. The manipulator comprises a proximal link assembly comprising a proximal arm coupled to the rail by one or more proximal joints. The proximal arm is extendable in length.