Multi-Port Robotic Arm Architecture for Collision-Free Surgical Setup
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Solution Overview
Problem
Existing minimally invasive robotic surgical systems face limitations in maneuverability, space utilization, setup efficiency, collision prevention, and mechanical complexity, hindering their widespread adoption and effectiveness in minimally invasive surgeries.
Innovation Solution
The introduction of an orienting platform supported by a movably configured support linkage with reorientation mechanisms, including tornado rotational joints, allows for improved maneuverability, efficient space utilization, reduced collisions, and simplified setup, while maintaining a fixed remote center of manipulation during robotic surgery.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional robotic surgical systems are used, then surgical procedures can be performed with some degree of precision, but the systems suffer from limited maneuverability, poor space utilization, and high mechanical complexity
Solution Approach 1:
The robotic system is divided into multiple independent robotic arms, each with its own base, manipulator, and control system. This segmentation allows each arm to be optimized for specific surgical tasks while reducing the overall mechanical complexity of any single component. The modular architecture enables independent manipulation of each arm, improving maneuverability during surgical procedures.
Solution Approach 2:
The robotic arms incorporate dynamic positioning capabilities with multiple degrees of freedom, allowing real-time adjustment of arm positions and orientations. The system includes movable bases that can reposition themselves, and manipulators with adjustable joints that adapt to different surgical requirements. This dynamic configuration significantly enhances maneuverability while maintaining manageable complexity through controlled flexibility.
2Area of stationary object
If multiple robotic arms are deployed in a compact arrangement, then space utilization improves, but the risk of collisions between arms increases
Solution Approach 1:
The system incorporates real-time feedback mechanisms including sensors on each robotic arm that continuously monitor position, velocity, and proximity to other arms. The control system processes this feedback data and dynamically adjusts arm trajectories to prevent collisions. This closed-loop control enables compact arm arrangements while maintaining high reliability by automatically detecting and responding to potential collision scenarios.
Solution Approach 2:
Before surgical procedures begin, the system performs preliminary positioning and path planning for all robotic arms. The control system calculates optimal trajectories that minimize the risk of collisions while maximizing space utilization. This preliminary action includes setting up virtual boundaries and safety zones that guide arm movements throughout the procedure, preventing collisions before they can occur.
3Manufacturing precision
If complex manipulator structures are used to maintain fixed remote center of manipulation, then surgical precision is maintained, but setup time and mechanical complexity increase
Solution Approach 1:
The robotic manipulators are designed with universal joint configurations that can accommodate multiple surgical instruments while maintaining a fixed remote center of manipulation. The same manipulator structure can handle different tool types and surgical tasks without requiring complex reconfiguration. This multi-functionality reduces setup time by eliminating the need for specialized manipulator structures for each surgical procedure.
Solution Approach 2:
The system uses virtual modeling and simulation to replicate the desired manipulator configurations and surgical paths before actual procedures. Digital twins of the robotic arms allow surgeons to practice and optimize procedures in a virtual environment, reducing the time needed for physical setup and adjustment. The virtual models preserve the precise geometric relationships needed for fixed remote center of manipulation while eliminating time-consuming physical trial-and-error.
Data Source
AI summary
A robotic surgery system includes an orienting platform, a first manipulator, a second manipulator supported by the orienting platform, and a first set-up linkage by which the first manipulator is coupled to and supported by the orienting platform. The first manipulator includes a first instrument holder configured to support a first surgical instrument. The first manipulator is operable to insert and manipulate the first surgical instrument. The second manipulator includes a second instrument holder configured to support a second surgical instrument. The second manipulator is operable to insert and manipulate the second surgical instrument. The first set-up linkage is operable to selectively reposition the first manipulator relative to the orienting platform.