Robotic Arm Coupler With Kinematic Locking for Surgical Table Mounting
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Solution Overview
Problem
Conventional robotic arm coupling mechanisms to surgical tables are cumbersome, require specialized training for connection and disconnection, and often result in misalignment, making them difficult to remove and reattach, which complicates maintenance and increases costs due to the need for precise alignment and adherence to IPX4 standards.
Innovation Solution
The development of a secure coupling mechanism that includes a first and second portion of a coupler, with kinematic mounts and a motorized locking mechanism, allowing for quick release and precise alignment of robotic arms to surgical tables, ensuring stability and alignment in six degrees of freedom, even under external loads.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional robotic arm coupling mechanisms are used, then the robotic arm can be securely attached to the surgical table, but the coupling and decoupling process requires specialized training and is time-consuming
Solution Approach 1:
The coupling mechanism is divided into separate modular components: a mounting plate that attaches to the surgical table, a robotic arm interface, and a locking mechanism. This segmentation allows each component to be independently designed, serviced, and replaced without affecting the entire system, enabling quick changes and maintenance without requiring specialized training.
Solution Approach 2:
The coupling mechanism incorporates dynamic locking and release features that allow the robotic arm to be quickly secured or released with simple actions. The mechanism transitions between locked and unlocked states through straightforward operations, eliminating the need for complex procedures or specialized knowledge while maintaining secure attachment during operation.
2Adaptability or versatility
If conventional robotic arm coupling mechanisms are used, then the robotic arm can be attached to the surgical table, but misalignment may occur during removal and reattachment
Solution Approach 1:
The mounting plate is pre-aligned with precise mechanical features and registration elements that ensure correct positioning before the robotic arm is attached. Alignment marks, keyed interfaces, and precision-machined surfaces are built into the mounting plate during manufacturing, so that when the robotic arm is removed and reattached, it automatically returns to the exact same position without requiring realignment procedures.
Solution Approach 2:
The coupling mechanism replaces complex manual alignment procedures with self-aligning mechanical features. Precision-machined surfaces, tapered interfaces, and registration pins automatically guide the robotic arm into the correct position during attachment, eliminating the need for technicians to perform delicate alignment operations or use specialized alignment tools.
3Reliability
If robotic arms are fixed to the surgical table to prevent damage, then safety is improved, but maintenance and servicing become difficult and expensive
Solution Approach 1:
The coupling mechanism is designed as a separable interface with a mounting plate that remains attached to the surgical table and a robotic arm interface that can be quickly disconnected. This segmentation allows the robotic arm to be easily removed for maintenance, calibration, or replacement while leaving the securely mounted base intact, facilitating routine servicing without affecting the overall system safety or requiring complex disassembly procedures.
Data Source
AI summary
An apparatus can include a coupler for coupling a robotic arm to a surgical table having a table top on which a patient can be disposed. The coupler can include a first portion configured to couple to a surgical table and a second portion configured to couple to a robotic arm. The second portion may include a post that may translate into the first portion. The first portion may comprise a locking mechanism having one or more stages to constrain movement of the second portion relative to the first portion in six degrees of freedom. The coupler can thus provide secure coupling of the robotic arm to the surgical table.