Robotic Arm Support Bar Structure for Higher Torsional Stiffness
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Solution Overview
Problem
Existing robotic medical systems face challenges in achieving high stiffness in arm supports for robotic arms, which affects stability and precision during medical procedures, particularly due to the lower torsional stiffness of open sections used for electrical and mechanical components.
Innovation Solution
The implementation of bars with cavities that house electrical and mechanical components, reducing the portion of open sections and increasing the size of closed sections to enhance torsional stiffness, while using rolling loops and electrical connections to minimize openings, thereby improving overall stiffness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If open sections (C-channels) are used for placing actuators and electrical cables, then ease of installation and accessibility is improved, but torsional stiffness deteriorates
Solution Approach 1:
The patent places actuators and electrical cables inside the closed section of the bar rather than mounting them on open C-channel sections. This nesting approach allows components to be housed within the structurally superior closed section, eliminating the need for open sections while maintaining accessibility for installation and maintenance.
2Strength
If the portion of open sections is reduced to increase closed section size, then torsional stiffness is improved, but accessibility for component installation and maintenance deteriorates
Solution Approach 1:
All actuators and electrical cables are nested within the closed section, which provides both high torsional stiffness and sufficient internal volume for component accommodation. This eliminates the need for open sections while maintaining full accessibility to components through the closed section's interior space.
3Strength
If openings are reduced in number and size for electrical connections, then torsional stiffness is improved, but electrical connection complexity increases
Solution Approach 1:
The patent uses flexible printed circuit boards (FPCs) to provide electrical connections between components inside the closed section and external systems. The FPC can bend and flex to accommodate the compact interior space while maintaining reliable electrical connections, eliminating the need for large openings in the bar structure.
4Strength
If components are placed inside cavities to increase closed section size, then torsional stiffness is improved, but device complexity increases
Solution Approach 1:
The patent combines multiple components (actuators, electrical cables, and control electronics) into a single integrated assembly housed within the closed section. This merging reduces the overall device complexity by eliminating separate mounting structures and simplifying the system architecture, while the closed section provides the necessary structural stiffness.
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.