Robotic Boom Coupling Mechanism for Collision-Free Arm Movement
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Solution Overview
Problem
Robotic surgical systems face challenges in achieving sufficient freedom of movement for manipulator arms without collisions, while maintaining a compact design to ensure easy access and handling during operations.
Innovation Solution
The system employs different coupling devices for manipulator arms based on their position on the boom, utilizing a combination of rotary joints and gear links to allow independent movement and adjustment, ensuring that the arms do not impede each other, and can be ceiling-supported for improved accessibility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a common suspension structure with identical coupling devices is used for all manipulator arms, then the device complexity is reduced, but the freedom of movement is limited and collisions may occur
Solution Approach 1:
The patent applies local quality by assigning different coupling devices to different manipulator arms based on their specific positions and movement requirements. The first coupling device is used for manipulator arms at certain positions, while the second coupling device is used for arms at other positions, allowing each arm to have optimized movement characteristics suitable for its location on the boom structure.
Solution Approach 2:
The patent segments the coupling device functionality by creating two distinct coupling device types with different mechanisms. The first coupling device provides one type of movement capability, while the second coupling device provides different movement capabilities, allowing the system to achieve greater overall versatility without requiring a single overly complex universal coupling device.
2Stability of the object's composition
If the support structure is placed on the floor to provide counterweight, then stability is improved, but the system becomes less compact and more difficult to move
Solution Approach 1:
The patent uses ceiling suspension where the boom structure itself serves as the counterweight system, eliminating the need for a large floor-based support structure. The manipulator arms are suspended from the boom, which is anchored to the ceiling, providing stability through the suspended configuration rather than through floor-based counterweighting.
3Device complexity
If manipulator arms are positioned equidistantly along the boom, then the device complexity is reduced, but the arms may interfere with each other during operation
Solution Approach 1:
The patent applies asymmetry by positioning manipulator arms at different locations along the boom structure rather than equidistantly. This asymmetric arrangement, combined with different coupling devices, allows each arm to operate in its own optimized zone, reducing interference between arms while maintaining a relatively simple overall positioning arrangement.
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
This configuration allows for flexible positioning of manipulator arms without collisions, maintaining a compact design and enhancing accessibility for medical staff, while allowing for precise pre-positioning and operation without obstructing the surgical site.
Implementation Method 1
The first coupling mechanism consists of a first rotary joint. The second coupling mechanism consists of a second rotary joint, a third rotary joint and a gear link
Implementation Method 2
The second coupling mechanism consists of a second rotary joint, a third rotary joint and a gear link
Data Source
Figure 1a~1d
Figure 2
Figure 3
AI summary
The invention relates to a robotic operating system comprising a support column (2), a number of manipulator arms (9), a control device (19) for controlling the robotic operating system, and a boom (3). The boom (3) is connected at one end to the support column (2) and has at its other end means for coupling the manipulator arms (9) with a number of coupling devices for the manipulator arms (9) corresponding to the number of manipulator arms (9). According to the invention, depending on the position of the respective manipulator arm (9) on the boom (3), a first part of the number of manipulator arms (9) is connected to the boom (3) via first coupling devices with first coupling mechanisms, and a second part of the number of manipulator arms (9) is connected to the boom (3) via second coupling devices with second coupling mechanisms. The first coupling mechanism consists of a first pivot joint (5).The second coupling mechanism consists of a second pivot joint (6) and a third pivot joint (7) as well as a gear link (8) connecting the two pivot joints (6, 7).