Internal-Cable Arm Support Structure for Robotic Arm Torsional Stiffness
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Solution Overview
Problem
Existing robotic medical systems face challenges in achieving high stiffness in arm supports, which affects the stability and precision of robotic arms, particularly due to the lower torsional stiffness of open sections in C-channels used for electrical and mechanical components.
Innovation Solution
The implementation of partially enclosed cavities in arm supports to house electrical cables and actuators, along with rolling loops and band/wire mechanisms, enhances torsional stiffness by minimizing the need for openings, thereby improving the overall structural integrity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If open sections (C-channels) are used in the bar for placing actuators and electrical cables, then components can be positioned on the bar, but torsional stiffness decreases
Solution Approach 1:
The patent places actuators and electrical cables inside the closed section (cavity) of the bar rather than mounting them on the external surface. This nesting approach eliminates the need for open sections while maintaining component functionality, thereby preserving the bar's torsional stiffness.
Solution Approach 2:
The patent extracts the harmful open sections (C-channels) from the bar structure by relocating all necessary components (actuators and electrical cables) into the internal cavity, thus removing the structural weakness while retaining component placement capability.
2Strength
If components are placed inside the cavity, then torsional stiffness increases, but electrical connections become more complex
Solution Approach 1:
The patent uses a flexible electrical cable with a rolling loop configuration that can move within the cavity to maintain electrical connections with the robotic arm as it moves along the bar. This flexible connection approach simplifies the electrical connection system compared to rigid wired connections.
Solution Approach 2:
The electrical cable is designed with a rolling loop that dynamically adjusts its position and length as the robotic arm moves, allowing the cable to remain connected without requiring complex routing mechanisms or multiple connection points.
3Stability of the object's composition
If the bar has high stiffness, then stability and precision of robotic arms improve, but manufacturing complexity increases
Solution Approach 1:
The bar is designed as a modular structure with a closed section (cavity) and open sections, allowing manufacturers to produce different segments separately and assemble them. This segmentation simplifies manufacturing while maintaining the high stiffness of the closed section portions.
Solution Approach 2:
The bar structure applies different structural qualities to different sections: closed sections provide high stiffness where needed for stability, while open sections provide access points for component mounting. This local differentiation optimizes both manufacturing ease and structural performance.
Data Source
AI summary
A surgical system may include an elongated arm support and a robotic arm supported on the elongated arm support. The robotic arm may translate along the elongated arm support. A partially enclosed cavity may be defined in the elongated arm support for receiving an electrical cable electrically coupled to the robotic arm so that the first electrical cable is within the cavity and includes a rolling loop that moves in conjunction with movement of the robotic arm.