Robotic Arm-Guided Mounting Platform Motion for Surgical Setup
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Solution Overview
Problem
Existing minimally invasive robotic surgical systems face challenges in maneuverability, ease of setup, space utilization, and mechanical complexity, with potential collisions between robotic devices during use, necessitating improved efficiency and ease of use.
Innovation Solution
The implementation of kinematic linkage structures and control systems that allow for actively driven or passive manipulators, with a set-up mode where joints are driven in response to manual articulation, facilitating alignment with the surgical site and reducing mechanical complexity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple robotic manipulators are used in minimally invasive surgery, then surgical dexterity and precision are improved, but the risk of collisions between devices and mechanical complexity increase
Solution Approach 1:
The robotic system is divided into separate manipulators, each with its own base and linkage structure. This segmentation allows independent control and positioning of each manipulator, reducing the risk of collisions while maintaining surgical precision. Each manipulator can be independently configured for specific surgical tasks.
Solution Approach 2:
The system utilizes multi-dimensional positioning capabilities with manipulators that can move in multiple degrees of freedom (x, y, z coordinates and angular orientations). This dimensional freedom allows manipulators to navigate around each other and access the surgical site from different angles, preventing collisions while maintaining precision.
2Productivity
If robotic manipulators are positioned for optimal surgical access, then surgical effectiveness is improved, but setup time and system complexity increase
Solution Approach 1:
The system performs preliminary positioning and alignment of manipulators before the surgical procedure begins. The base and linkage structures are pre-configured with adjustable components that can be quickly set to optimal positions, reducing setup time while ensuring surgical effectiveness.
Solution Approach 2:
The manipulator system incorporates dynamic positioning capabilities with adjustable linkages and bases that can be rapidly reconfigured during setup. This dynamic adjustability allows the system to adapt to different surgical scenarios without requiring extensive repositioning, thereby reducing overall setup time.
3Ease of operation
If manual articulation of joints is allowed during setup, then ease of operation is improved, but control precision and system stability may be compromised
Solution Approach 1:
The system incorporates feedback mechanisms that monitor the position and movement of manually articulated joints. This feedback allows the control system to detect and correct positioning errors, maintaining system stability and reliability even when operators manually adjust joints during setup and operation.
Data Source
AI summary
A system includes a first structure, a linkage supporting the first structure, a second structure supporting the linkage, and processor(s). The processor(s) are configured to determine, at a time when the system enters a mode, a first position of a reference location of a link of the first structure relative to the linkage and while the system is in the mode: detect a manual movement of the link that causes a first displacement of the reference location from the first position in a first direction and a second displacement of the reference location in a second direction, calculate, based on at least the first displacement, a motion of the second structure to cause movement of the linkage relative to the reference location in the first direction to reduce the first displacement while not changing the second displacement, and cause the second structure to move in accordance with the calculated motion.