Dual-Section Robotic Arm for Flexible Surgical Port Placement
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Solution Overview
Problem
Existing robotic surgical systems are difficult to set up and manage, and they tend to be very costly, limiting their accessibility and efficiency in medical facilities.
Innovation Solution
A robotic arm and surgical system with a dual-section design, comprising a Cartesian arm and a spherical arm, which allows for flexible positioning and dynamic adjustment of the remote center of motion, enabling full tool reach inside a patient's body regardless of port placement, and includes a tool driver with a flexible sterile barrier interface to simplify surgical tool manipulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If existing robotic surgical systems are used, then surgical precision and automation are achieved, but system complexity and cost increase significantly
Solution Approach 1:
The robotic arm is divided into two independent sections: a Cartesian arm for positioning and a spherical arm for orientation. This segmentation allows each section to be optimized for its specific function, reducing overall system complexity while maintaining surgical precision and automation capabilities.
2Manufacturing precision
If existing robotic surgical systems are deployed, then surgical precision is improved, but setup difficulty and management complexity increase
Solution Approach 1:
The robotic arm system is designed to be mounted on various surfaces including floors, walls, and surgical beds, making it universally applicable in different surgical settings. This multi-functionality simplifies setup and management while maintaining high surgical precision through the coordinated Cartesian and spherical arm sections.
3Stability of the object's composition
If traditional robotic arm designs are used, then structural stability is maintained, but accessibility to internal organs and flexibility in port placement are limited
Solution Approach 1:
The spherical arm section provides dynamic orientation adjustment capabilities that allow the surgical tool to reach various internal organs regardless of port placement. This dynamic flexibility is achieved while the Cartesian arm maintains structural stability, creating a balanced system that satisfies both requirements.
Data Source
AI summary
A robotic arm according to various implementations includes: a tool driver configured to hold a surgical tool; a first section comprising a first end coupled to a base, a second end distal from first end; a first link that includes a motor configured to rotate at least a portion of the first section around a pitch axis; a second link coupled to the first link, the second link including a motor configured to rotate at least a portion of the first section around a roll axis; and a second section comprising: a first end coupled to the second end of the first section, a second end distal from the first end, a first link that includes a motor configured to rotate at least a portion of the second section around a roll axis, a second link coupled to the first link.