Remote Center Manipulator With Redundant Rotation for Wider Tool Motion
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Solution Overview
Problem
Existing minimally invasive robotic surgical systems face limitations in the range of motion provided by robotic surgical manipulators, which can impose hazardous forces against the abdominal wall during procedures.
Innovation Solution
A remote center manipulator is designed with rotationally coupled joints and linkage configurations that constrain the surgical instrument to move around a remote center of manipulation, allowing for improved range of motion without imposing hazardous forces, including parallelogram motion and conical sweep mechanisms to reorient the instrument holder.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robotic manipulator uses traditional linkage arrangements with pitch and yaw joints, then the surgical instrument can be manipulated with controlled motion, but the range of motion is limited and may impose hazardous forces against the abdominal wall
Solution Approach 1:
The robotic manipulator is divided into multiple independent linkage assemblies, each with specific rotational degrees of freedom. The instrument holder is segmented from the base linkage, allowing independent control of pitch and yaw motions while maintaining remote center constraint. This segmentation enables wider range of motion without compromising patient safety.
Solution Approach 2:
The patent introduces a redundant rotational degree of freedom about an axis that is neither the pitch axis nor the yaw axis. This additional dimensional freedom allows the instrument holder to achieve orientations that would otherwise require hazardous movements, expanding the reachable workspace while maintaining the remote center of manipulation constraint.
2Device complexity
If the manipulator structure is simplified to reduce complexity, then ease of manufacture and operation improve, but the ability to constrain motion to a remote center while providing sufficient range of motion is compromised
Solution Approach 1:
Multiple linkage assemblies are merged into a integrated instrument holder structure that shares common rotational axes. The pitch linkage and yaw linkage are combined such that both contribute to motion about the remote center, reducing the number of independent actuators needed while maintaining full range of motion capability.
Solution Approach 2:
The linkage structure is designed so that the same mechanical components serve multiple functions: the pitch linkage not only provides pitch motion but also contributes to yaw motion through its rotational coupling. This multi-functionality reduces overall system complexity while maintaining the required range of motion and remote center constraint.
3Adaptability or versatility
If additional linkage components are added to expand range of motion, then adaptability improves, but device complexity and difficulty of manufacture increase
Solution Approach 1:
The patent achieves expanded range of motion by changing the rotational parameters of existing linkage components rather than adding entirely new mechanisms. The rotational coupling between pitch and yaw linkages allows each component to operate through larger angular ranges, effectively expanding the workspace without proportionally increasing manufacturing complexity.
Data Source
AI summary
A surgical system includes a manipulator, a surgical tool and a control system. The manipulator includes a manipulator mounting base, a pitch mechanism, a roll mechanism and a redundant rotation mechanism. The surgical tool is supported by the manipulator and has a tool shaft axis. The pitch mechanism rotates the surgical tool around a pitch axis. The roll mechanism rotates the surgical tool around a roll axis transverse to the pitch axis. The redundant rotation mechanism rotates the surgical tool around a redundant rotation axis. Each of the tool shaft axis, the pitch axis and the roll axis intersect at a remote center. The control system is configured to electronically communicate with and control operation of the manipulator to articulate the surgical tool during surgery.