Robotic Arm Cart Connector for Fine Surgical Table Alignment
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Solution Overview
Problem
Existing robotic arm systems face challenges in precisely aligning with surgical tables due to factors like floor coverings and manufacturing tolerances, making it difficult for operators to achieve exact horizontal positioning and resulting in misalignment during coupling.
Innovation Solution
An arm cart with a slideably mounted connector allows for fine adjustments of the robotic arm relative to the cart, enabling precise alignment with the surgical table by moving the connector and robotic arm together, using mechanisms like prismatic joints and springs to facilitate vertical and horizontal adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the arm cart is moved to achieve alignment with the surgical table, then the robotic arm can be positioned near the surgical table, but precise horizontal alignment is difficult to achieve due to floor coverings and manufacturing tolerances
Solution Approach 1:
The system divides the positioning function into two independent segments: the arm cart provides coarse positioning to bring the robotic arm near the surgical table, while the connector provides fine positioning to achieve precise horizontal alignment. This segmentation allows each component to optimize for its specific function without compromise.
Solution Approach 2:
The connector acts as an intermediary mechanism between the arm cart and the robotic arm. It mediates the alignment process by providing slideable adjustment capabilities that enable precise horizontal positioning of the robotic arm relative to the surgical table, bridging the gap left by coarse positioning limitations.
2Measurement precision
If the entire arm cart is moved to achieve fine alignment adjustments, then precise positioning can be achieved, but the complexity and effort required increases significantly
Solution Approach 1:
The positioning system is segmented into coarse positioning (arm cart) and fine positioning (connector) functions. The connector incorporates prismatic joints and springs specifically designed for fine adjustment, isolating the complexity of precise positioning to a dedicated subsystem rather than requiring the entire arm cart to be complex and movable for fine adjustments.
3Stability of the object's composition
If fixed mounting is used to secure the robotic arm to the arm cart, then structural stability is improved, but fine adjustment capability is lost
Solution Approach 1:
The connector transitions from a static fixed mounting to a dynamic adjustable connection. It incorporates slideable mechanisms with prismatic joints that allow controlled movement and adjustment, while springs provide flexible support. This dynamic design enables the system to adapt between stable positioning and fine adjustment needs.
Solution Approach 2:
The connector allows changing the positional parameters of the robotic arm relative to the arm cart through slideable adjustment. The prismatic joints enable controlled changes in position and orientation parameters, while springs maintain structural support, allowing the system to adapt parameters as needed for precise alignment.
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
Enables precise alignment of the robotic arm with the surgical table, ensuring accurate mating and coupling, even in environments with varying floor conditions, by allowing for fine positional adjustments without moving the entire arm cart.
Implementation Method 1
A spring can be coupled between the connector and the arm cart and can urge the robotic arm toward a rest position
Data Source
AI summary
Some embodiments described herein relate to an arm cart operable to transport a robotic arm to and/or from a surgical table. The robotic arm can be coupled to the arm cart via a connector. The connector can be slideably mounted to the arm cart such that the connector and the robotic arm, collectively, can move relative to the arm cart. For example, when the arm cart is adjacent to the surgical table, the connector and the robotic arm can be movable to provide final, fine adjustments to align the robotic arm with a coupling portion of the surgical table.