Surgical Robot Support Bladder for Uneven Surface Stability
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Solution Overview
Problem
Surgical robots face instability issues when positioned on uneven surfaces, which can lead to unintended movements of the end effector during surgical procedures, potentially harming patients.
Innovation Solution
An arrangement comprising a planar member supporting the surgical robot and a bladder coupled to its bottom surface, where the bladder has an external membrane that complies with uneven surfaces and an internal cavity holding solid and fluid particles. By extracting fluid particles, the bladder compacts, increasing frictional engagement between the solid particles and stabilizing the surgical robot.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the surgical robot is positioned on an uneven surface, then the robot can be deployed in various locations, but the stability of the robot deteriorates
Solution Approach 1:
The bladder is constructed with a flexible membrane that can conform to uneven surfaces, allowing the surgical robot to be deployed on irregular terrain while maintaining stability. The membrane flexes to match the surface contours, distributing the robot's weight evenly across the contact area.
Solution Approach 2:
The bladder's internal pressure is adjusted by extracting fluid particles to change its physical state from compliant to rigid. This parameter change allows the bladder to adapt to uneven surfaces initially, then stabilize the robot by increasing frictional engagement between solid particles within the bladder as pressure increases.
2Adaptability or versatility
If the bladder is inflated with fluid particles, then the bladder can conform to uneven surfaces, but the frictional engagement between solid particles decreases
Solution Approach 1:
The bladder transitions from a fluid-filled compliant state to a compacted rigid state by extracting fluid particles. This parameter change increases the concentration of solid particles, thereby increasing frictional engagement and reliability while reducing surface conformity.
Solution Approach 2:
The bladder dynamically transitions between two functional states: an inflated compliant state for surface conformity during positioning, and a compacted rigid state for stability during surgery. The system switches between these states based on operational requirements.
3Reliability
If the bladder is compacted by extracting fluid particles, then the frictional engagement between solid particles increases, but the ability to conform to uneven surfaces decreases
Solution Approach 1:
The bladder is designed to dynamically switch between compliant and rigid states. During positioning, it remains inflated to conform to uneven surfaces. During surgery, fluid particles are extracted to compact the bladder, increasing frictional engagement while the robot is already positioned, so surface conformity is no longer required.
Solution Approach 2:
The bladder conforms to the uneven surface in advance during positioning, then fluid particles are extracted to compact the bladder and increase frictional engagement once the robot is properly positioned. This preliminary conforming action allows subsequent compaction without compromising deployment capability.
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 solution effectively stabilizes the surgical robot on uneven surfaces by increasing frictional engagement between the solid particles, preventing unintended movements and ensuring patient safety during procedures.
Implementation Method 1
extracting of one or more fluid particles from the bladder so as to cause an increased frictional engagement between the plurality of solid particles
Data Source
AI summary
An arrangement for supporting a surgical robot, the arrangement comprising: a planar member on which the surgical robot is supported; a bladder coupled to a bottom surface of the planar member, the bladder comprising: an external membrane having a surface which opposes the bottom surface of the planar member and which is configured to comply with an uneven surface that it is in contact with; an internal cavity defined by the external membrane, the internal cavity holding a plurality of solid particles and being configured to hold a plurality of fluid particles; and an opening in the external membrane, the opening being configured to enable the extraction of one or more of the fluid particles so as to cause an increased frictional engagement between the plurality of solid particles, thereby stabilising the surgical robot on the uneven surface.