Robotic Arm Assembly With Integrated Instrument Drive Unit
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Solution Overview
Problem
Robotic surgical systems face challenges with complex and costly robotic arm assemblies due to numerous components, which increase size, energy output, and prolong surgical procedures through clamping/unclamping steps for connecting surgical instruments and accessories.
Innovation Solution
A robotic arm assembly with a compact, lightweight instrument drive unit that integrates five motors into a single unit, providing five degrees of rotational freedom, and a simplified mounting system for quick connection of surgical accessories, reducing complexity and cost while enhancing thermal management and power density.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If robotic arm assemblies are designed to accommodate multiple surgical tools with different functions, configurations, and weights, then the system's versatility and adaptability are improved, but the device complexity and difficulty of calibration increase
Solution Approach 1:
The robotic arm assembly is designed with a universal flange interface that can accommodate multiple surgical tools with different functions, configurations, and weights. The flange includes multiple sets of holes arranged in different patterns, allowing various attachment configurations for different surgical instruments while maintaining a single standardized interface design.
2Manufacturing precision
If the robotic arm assembly uses a fixed calibration procedure for each surgical tool, then the manufacturing precision and accuracy are improved, but the loss of time during tool changes increases
Solution Approach 1:
The flange is pre-calibrated during manufacturing with known geometric relationships between different hole patterns and the flange center. This preliminary calibration eliminates the need for time-consuming calibration procedures during surgical tool changes, as the calibration data is already embedded in the flange design and can be quickly referenced when switching between tools.
3Adaptability or versatility
If the flange design includes multiple sets of holes for different attachment configurations, then the adaptability to various surgical tools is improved, but the manufacturing precision requirements and difficulty of ensuring accurate hole positioning increase
Solution Approach 1:
Multiple hole patterns for different attachment configurations are integrated into a single flange component rather than requiring separate flanges for each tool type. The flange combines multiple sets of holes in different arrangements, all precisely positioned relative to the flange center, allowing versatile tool attachment while maintaining consistent manufacturing precision through a unified design approach.
Data Source
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AI summary
A robotic arm assembly includes a robotic arm and an instrument drive unit coupled to the robotic arm. The instrument drive unit is configured to provide five degrees of rotational freedom and includes a motor housing, motors supported in the motor housing and rotatable with the motor housing, and gear box assemblies coupled to the motors and configured to transmit drive power from the motors to a surgical instrument. The robotic arm may include a mounting arm that extends to an annulus for supporting a surgical port that selectively receives the surgical instrument.