Robotic Surgical Assembly With Macro-Micro Positioning Control
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Solution Overview
Problem
Current robotic surgical assemblies face challenges in achieving precise kinematic control and miniaturization, with existing solutions often requiring complex motion strategies that result in kinematic inaccuracies and limited accessibility within the operating field, and they lack the versatility and ease of use needed for various surgical procedures.
Innovation Solution
A robotic surgical assembly with a macro-positioning arm and multiple micro-positioning devices, each with motorized degrees of freedom, allowing for precise translational and rotational movements, and a tendon-driven system that minimizes friction and enables extreme miniaturization while maintaining precision and reliability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a plurality of independent movements are coordinated simultaneously for small motions of the surgical instrument, then the surgical instrument can access the operating work-field, but the control of kinematic accuracy becomes difficult and the operating work-field becomes encumbered and inaccessible to the surgeon
Solution Approach 1:
The robotic assembly is divided into a macro-positioning arm for large-scale positioning and micro-positioning devices for fine adjustments. This segmentation allows the surgeon to first position the instrument broadly using the macro arm, then make precise adjustments with the micro-positioning devices, eliminating the need to coordinate multiple independent movements simultaneously while maintaining access to the operating field and kinematic accuracy
2Adaptability or versatility
If multiple joints are articulated further away from the instrument tip to enable reorientation, then the instrument can be oriented in a large spatial cone of directions, but the encumbrance in the operating field increases and movement capability is reduced when inside a lesion
Solution Approach 1:
The micro-positioning devices are nested within or integrated with the macro-positioning arm structure. The micro-positioning devices operate within the workspace defined by the macro arm, allowing reorientation capability to be achieved without extending the overall length of the robotic assembly, thus reducing encumbrance in the operating field while maintaining spatial orientation capability
3Measurement precision
If a master-slave teleoperated system is used for microsurgery, then the surgical instrument can be controlled with precision, but the master command devices have a long learning curve and are mechanically linked to motion recording stations that limit their movement
Solution Approach 1:
The robotic assembly incorporates autonomous positioning capabilities through its multi-degree-of-freedom macro and micro-positioning systems. The system can automatically maintain positioning accuracy and compensate for drift without requiring continuous manual adjustment through a complex master-slave interface, thereby reducing the learning curve while preserving precision control when needed
Data Source
AI summary
A robotic surgical assembly (100) includes a support (104), one macro-positioning arm (30), connected to the support (104) and having a plurality of degrees of freedom. The macro-positioning arm (30) includes a support member (38), at least two micro-positioning devices (41, 141, 241, 341), each having a plurality of motorized degrees of freedom, connected in cascade to the support member (38) of the macro-positioning arm (30), and at least two medical instruments (60, 160, 260, 360). Each instrument is connected in cascade to each of the micro-positioning device and includes a jointed device (70, 170, 270) having a plurality of motorized degrees of freedom including a plurality of rotational joints. Each of the at least two medical instruments (60, 160, 260, 360) has a shaft (65), suitable for distancing the jointed device from the micro-positioning devices by a predetermined distance in a shaft direction (X-X).