Robotic Surgery Control Arm Ergonomics With Four-Bar Linkage
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current control arm assemblies for robotic surgical systems are not optimized for comfortable and efficient operation, lacking ergonomic design and easy connectivity, which can lead to clinician fatigue and reduced precision during surgical procedures.
Innovation Solution
The control arm assembly features a gimbal that is movable and rotatable about three axes, coupled with a handle assembly that includes a first actuator mechanically linked to a controller via a four-bar linkage, allowing for comfortable finger control and easy connection/disconnection, with a biased actuator position that reduces finger fatigue and enhances precision through mechanical and electrical signal conversion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a traditional control arm assembly is used, then the structure is simple, but the ergonomics are poor and finger fatigue occurs during prolonged use
Solution Approach 1:
The control arm assembly is divided into modular components: a handle assembly with finger-actuated controls, a four-bar linkage mechanism, and a gimbal assembly. This segmentation allows each component to be optimized independently for ergonomics while maintaining overall system functionality.
Solution Approach 2:
A four-bar linkage mechanism serves as an intermediary between the finger-actuated control inputs and the gimbal movements. This mechanical intermediary translates small finger motions into precise gimbal rotations, reducing finger strain while maintaining control precision.
2Measurement precision
If the control arm assembly is designed for precision control, then the precision is improved, but the connection and disconnection becomes difficult
Solution Approach 1:
The control arm assembly is divided into modular components: a handle assembly with finger-actuated controls, a four-bar linkage mechanism, and a gimbal assembly. This segmentation allows each component to be optimized independently for ergonomics while maintaining overall system functionality.
Solution Approach 2:
The connector incorporates a detent mechanism that provides snap-fit engagement for secure connection while allowing quick release. This dynamic connection system maintains precise alignment during operation but enables rapid attachment and detachment when needed.
3Adaptability or versatility
If the actuator range of motion is increased, then the control flexibility is improved, but the finger strain increases during prolonged procedures
Solution Approach 1:
A four-bar linkage mechanism serves as an intermediary between the finger-actuated control inputs and the gimbal movements. This mechanical intermediary translates small finger motions into precise gimbal rotations, reducing finger strain while maintaining control precision.
Solution Approach 2:
The connector incorporates a detent mechanism that provides snap-fit engagement for secure connection while allowing quick release. This dynamic connection system maintains precise alignment during operation but enables rapid attachment and detachment when needed.
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
The solution provides improved ergonomics and reduced clinician fatigue by allowing easier control of robotic surgical tools, enhancing precision and minimizing finger strain during prolonged surgical procedures.
Implementation Method 1
The first actuator is mechanically coupled to the controller via a four-bar linkage such that actuation of the first actuator causes mechanical movement of a component of the controller which is converted by the controller into an electrical signal
Implementation Method 2
a gimbal moveable and rotatable about three axes
Data Source
AI summary
A control arm assembly for controlling a robot system includes a gimbal that is moveable and rotatable about three axes, and a handle assembly coupled to the gimbal. The handle assembly includes a body portion having a controller disposed therein and a first actuator disposed thereon. The first actuator is mechanically coupled to the controller via a four-bar linkage such that actuation of the first actuator causes mechanical movement of a component of the controller which is converted by the controller into an electrical signal.