Surgical Robot Bearing Structure for Twist-Free Drape Rotation
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Solution Overview
Problem
Surgical drapes covering surgical robots can be twisted and broken when the relative angle between the arm unit and the insertion member exceeds 360 degrees, leading to potential malfunction and reduced movable range.
Innovation Solution
A bearing structure comprising a fixing member and a rotating member, where the fixing member is attached to the arm and the rotating member is slidably rotatable, with a first drape attached to the fixing member and a second drape to the rotating member, allowing for rotation beyond 360 degrees without twisting.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the drape covers the arm and holder, then the separation between clean and unclean areas is maintained, but the drape may be twisted and broken when rotation exceeds 360 degrees
Solution Approach 1:
The drape is divided into two separate drapes: a first drape covering the arm and attached to the fixing member, and a second drape covering the holder and attached to the rotating member. This segmentation allows each drape to independently follow its respective component's movement, preventing twisting when rotation exceeds 360 degrees while maintaining clean-unclean separation.
Solution Approach 2:
The bearing structure acts as an intermediary mechanism between the fixing member and the rotating member, enabling relative rotation without transmitting twisting forces to the drapes. The bearing structure with its inner ring, outer ring, and rolling elements facilitates smooth rotation while isolating the drapes from mechanical stress.
2Volume of moving object
If the holder is inserted inside the fixing member, then the structure is compact, but the drape cannot accommodate rotation beyond 360 degrees
Solution Approach 1:
The bearing structure introduces dynamic elements (inner ring, outer ring, rolling elements) that enable the holder to rotate freely relative to the fixing member. This dynamic configuration allows the holder to achieve extensive rotation beyond 360 degrees while maintaining a compact overall structure, as the bearing components are arranged concentrically.
3Device complexity
If a single drape covers both arm and holder, then the structure is simple, but the drape is prone to breaking during rotation
Solution Approach 1:
The single drape is segmented into two independent drapes: the first drape attached to the fixing member and the second drape attached to the rotating member. This segmentation distributes the mechanical stress during rotation across two separate drapes rather than concentrating it on one, significantly improving durability while maintaining relatively simple individual drape structures.
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 bearing structure reduces the likelihood of drape breakage and maintains separation between clean and unclean areas, ensuring reliable operation of the surgical robot even during extensive rotation.
Implementation Method 1
a bearing member provided with an inner ring that is attached with respect to the holding body, an outer ring that is attached with respect to the fixing member, and a plurality of rolling elements that are disposed between the inner ring and the outer ring
Data Source
AI summary
A bearing structure includes a fixing member attached with respect to an arm of a surgical robot in a state in which a holder that is provided at a distal end of the arm is inserted inside the fixing member, a first drape that covers the arm being attachable to the fixing member, and a rotating member attached with respect to the fixing member in a slidably rotatable manner in a state in which the holder is inserted inside the rotating member, a second drape that covers the holder being attachable to the rotating member. The rotating member is rotatable together with the holder.