Surgical Robot Flange Reorientation for Precise Positioning
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Solution Overview
Problem
Existing surgical robot positioning systems are difficult for medical personnel without kinematic knowledge to operate effectively, especially when trying to optimize the use of space and avoid interference with other robots, due to complex kinematics and limited adjustability.
Innovation Solution
A carrier system with a flange that allows for adjustable attachment of surgical robots, featuring a positioning device with a carrier and flange that can be moved using an air chamber arrangement with overpressure or negative pressure air supply, enabling precise, noise-free, and low-friction movement, and an orientation mechanism that simplifies the reorientation of the robot base between vertical and horizontal orientations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a complex positioning device with multiple joints and swivel mechanisms is used to achieve precise robot positioning and repositioning, then the positioning precision and adaptability are improved, but the device complexity and difficulty of operation increase significantly
Solution Approach 1:
The positioning device is divided into modular components: a base unit, a positioning mechanism with adjustable arms, and a flange assembly. Each module can be independently adjusted and positioned, allowing complex positioning tasks to be broken down into simpler sequential adjustments of individual segments rather than manipulating a monolithic complex mechanism.
Solution Approach 2:
The positioning device incorporates dynamically adjustable elements including telescopic arms with variable lengths, rotatable joints with adjustable angles, and a flange that can be repositioned along multiple axes. These dynamic components allow the device to adapt to different surgical scenarios while maintaining precision through controlled movement rather than fixed complex mechanisms.
2Adaptability or versatility
If multiple swivel joints and thrust joints are incorporated to enable repositioning and reorientation of the robot base, then the adaptability and repositioning capability are improved, but the ease of operation deteriorates due to complex kinematic requirements
Solution Approach 1:
The positioning device includes self-aligning features such as guide rails that automatically guide the flange during repositioning, and interlocked joints that maintain proper orientation relationships. The system performs part of the kinematic coordination automatically through its mechanical design, reducing the cognitive and operational burden on the user while maintaining high adaptability.
Solution Approach 2:
The flange acts as an intermediary element between the positioning mechanism and the robot base. It provides a standardized interface that simplifies the coupling process, allowing the robot to be quickly attached and detached without requiring complex kinematic adjustments each time. The flange absorbs some of the kinematic complexity by providing a fixed reference frame for robot attachment.
3Ease of operation
If the robot base is fixed in a specific orientation to simplify operation, then the ease of operation is improved, but the adaptability to different surgical configurations and space utilization deteriorates
Solution Approach 1:
The positioning device features dynamically adjustable arms and joints that can be configured in real-time to optimize space utilization for different surgical scenarios. The telescopic arms can extend or retract, and the joints can be rotated to different angles, allowing the system to adapt to varying operating room layouts and patient positions while maintaining simple operation through guided adjustment mechanisms.
4Measurement precision
If traditional mechanical positioning mechanisms are used to achieve precise positioning, then the positioning precision is improved, but noise generation and particle turbulence increase
Solution Approach 1:
The positioning device incorporates pneumatic elements such as air bearings or pneumatic actuators that replace traditional mechanical friction-based mechanisms. These pneumatic components achieve precise positioning through air pressure control rather than mechanical contact, significantly reducing noise generation and particle turbulence while maintaining high positioning accuracy through controlled air flow and pressure regulation.
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
Facilitates easy and precise positioning of surgical robots without requiring extensive kinematic knowledge, allowing for optimal use of space and minimizing interference, while reducing noise and particle turbulence through sound dampening measures.
Implementation Method 1
the air chamber arrangement, in particular one or more of its pressure chambers, can be connected to an overpressure air supply to form a single- or multi-cell air cushion
Implementation Method 2
the air chamber arrangement has at least one sound chamber covered by a sound apron, which surrounds at least one of the pressure chambers
Data Source
Figure 1~3
Figure 4A~4E
Figure 5~6
AI summary
The invention relates to a positioning device for a robot (10) comprising an end effector (13), in particular a surgical end effector, which has a base (1) and a flange (7) to which the robot can be secured, wherein the flange is connected to the base by means of a kinematic system which has at least two joints (2, 4, 6). The flange can be adjusted from a first position relative to the base, in particular at least substantially on a circular path or straight line, to a second position relative to the base by means of the kinematic system, said second position being spaced from the first position. The invention is characterized by an orientation means (100, 101; 102) for reorienting the flange from a first orientation in the first position into a second orientation, which is rotated about a reference axis by at least 75° in particular relative to the first orientation, in the second position as a result of an adjustment from the first position to the second position.