Surgical Robot Pivot Teaching for Multi-Trocar Workspace
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Solution Overview
Problem
Conventional surgical robots with mechanically determined pivot points restrict the degree of freedom of trocar arrangement, leading to interference with assistive operations and reduced operational space due to the presence of multiple cannulas.
Innovation Solution
A surgical robot with a pivot position teaching button that allows manual setting of the pivot position by moving a medical device to the trocar insertion point, eliminating the need for additional supporting instruments and enabling easier operation near the patient's body surface.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the pivot point is mechanically determined by instrument holders and cannulas, then the structure is stable and predetermined, but the degree of freedom of trocar arrangement is reduced and interference with assistive operations occurs
Solution Approach 1:
The patent replaces the mechanical determination of pivot points through instrument holders and cannulas with a software-based coordinate system approach. The pivot point is defined as a virtual point in the robotic arm's coordinate system rather than a physical mechanical constraint, allowing flexible repositioning through software without physical reconfiguration of instrument holders or cannulas.
Solution Approach 2:
The patent makes the pivot point dynamically adjustable through software control rather than fixed mechanically. The coordinate system can be dynamically reconfigured to place the pivot point at different locations corresponding to different trocar insertion sites, enabling adaptability while maintaining structural stability of the physical components.
2Measurement precision
If instrument holders and cannulas are used to mechanically determine pivot points, then the pivot position is precisely defined, but the operational space near the patient's body surface is reduced
Solution Approach 1:
The patent extracts the pivot point definition from the physical instrument holder and cannula structure and represents it as a virtual point in the coordinate system. This separation allows the pivot point to be precisely defined mathematically without requiring physical space for mechanical pivot-determining structures, thereby increasing operational space near the patient's body surface.
3Adaptability or versatility
If multiple cannulas are inserted to support multiple trocars, then multiple pivot points are established, but the space in the vicinity of the body surface is narrowed
Solution Approach 1:
The patent creates virtual representations (copies) of pivot points in the coordinate system for each trocar insertion site without requiring physical cannulas or instrument holders at each location. Multiple pivot points can be defined software-based, allowing multiple trocars to be accommodated without the physical space constraints imposed by multiple mechanical support structures.
Data Source
AI summary
In a surgical robot, a pivot position teaching button is pressed with a tip end of a medical device moved to a position corresponding to an insertion position of a trocar inserted into a body surface of a patient such that a pivot position is stored in a storage.