Surgical Robotic Arm Layout for Trocar Insertion and Maneuverability
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Solution Overview
Problem
Existing surgical robotic arms typically have limited degrees of freedom, restricting their ability to choose optimal approach paths during surgical procedures, and inserting multiple working ends through a trocar is challenging due to spatial constraints.
Innovation Solution
A robotic arm design with eight degrees of freedom, incorporating alternating patterns of hinge and rotary joints, and a support tube system with elastic elements that bias working ends radially outward to optimize insertion through a trocar.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robotic arm has more degrees of freedom to enable flexible surgical approach paths, then the range of movement and surgical maneuverability are improved, but the device complexity increases
Solution Approach 1:
The robotic arm is divided into multiple sections (first section with origin, second section with elbow joint, third section with end effector) that can move independently. This segmentation allows each section to contribute to the overall range of movement without requiring the entire arm to be complex, as each segment has its own degrees of freedom that can be controlled independently.
Solution Approach 2:
The robotic arm sections are arranged in a nested configuration where the second section can move independently within the space defined by the first and third sections. This nesting allows multiple degrees of freedom to be achieved in a compact structure, improving adaptability without linearly increasing overall device complexity.
2Productivity
If multiple working ends are inserted through a trocar, then the productivity and surgical efficiency are improved, but the difficulty of insertion increases due to spatial constraints
Solution Approach 1:
Elastic elements are pre-installed within the support tube to provide radial outward biasing force. This preliminary configuration ensures that as working ends are inserted through the trocar, the elastic elements automatically exert force to guide and separate the working ends, reducing insertion difficulty before the actual insertion process begins.
Solution Approach 2:
The support tube acts as an intermediary structure that facilitates the insertion of multiple working ends through the trocar. By incorporating elastic elements within the support tube, the system provides a mechanism that actively manages the spatial constraints during insertion, making the process easier while still enabling multiple working ends to be deployed simultaneously.
3Strength
If the support tube is made stiffer to maintain structural integrity, then the strength is improved, but the ease of insertion through the trocar worsens
Solution Approach 1:
The support tube incorporates elastic elements at specific locations within its structure, creating local flexibility zones while maintaining overall structural integrity. This allows the support tube to be stiff enough to maintain strength and support multiple working ends, while the localized elastic regions provide the necessary flexibility for easy insertion through the trocar.
Solution Approach 2:
The elastic elements within the support tube can change their mechanical properties (stiffness) based on the insertion process. During insertion, the elastic elements deform to accommodate the trocar, reducing resistance. Once inserted, they return to their biased state to provide structural support, effectively changing the parameter of stiffness to satisfy both insertion ease and structural integrity requirements.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables more flexible surgical approach paths and efficient insertion of multiple working ends through a trocar, enhancing surgical maneuverability and instrument deployment.
Implementation Method 1
the support tube is coupled to an elastic element, and wherein the elastic element drives the support tube radially outward
Implementation Method 2
a displacement of a joint is measured by a magnetic sensing system
Data Source
AI summary
Disclosed herein are methods, devices and systems for performing robotic procedures. The devices may include one or more robotic arms. The one or more robotic arms may comprise one or more joints. A joint may includes a magnetic sensing system as taught herein.