Robotic Surgical Wrist Mechanism for Precise Multi-Plane Articulation
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Solution Overview
Problem
Current robotic surgical tools face limitations in articulating end effectors efficiently, particularly in minimally invasive procedures, where precise movement and multiple degrees of freedom are crucial for effective surgical maneuvers.
Innovation Solution
A robotic surgical tool design featuring a drive housing with a spline and drive gear system, a movable carriage, and an articulable wrist mechanism, allowing for precise articulation of the end effector in multiple planes through a combination of spline rotation and activating mechanisms, enabling enhanced control and maneuverability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If traditional mechanical mechanisms with drive cables are used to manipulate the end effector, then the system can achieve basic movement, but the structure becomes complex and the precision of articulation is limited
Solution Approach 1:
The patent replaces traditional mechanical drive cable systems with a robotic motion control system that uses motors and actuators to directly control the end effector's articulation. This substitution eliminates complex mechanical linkages and drive cables, achieving more precise articulation control while reducing overall mechanical complexity.
Solution Approach 2:
The patent changes the control parameter from manual cable tension adjustment to electronic motor control, enabling precise articulation angles and positions. The robotic system allows for programmable motion parameters, improving articulation precision through digital control rather than mechanical adjustment.
2Ease of operation
If a robotic wrist joint with multiple degrees of freedom is added to enable natural hand-like articulation, then the ease of operation improves, but the device complexity increases
Solution Approach 1:
The robotic wrist joint is designed to perform multiple articulation functions (pitch, yaw, roll movements) within a single integrated mechanism. This multi-functional design enables natural hand-like articulation while consolidating what would otherwise require separate mechanical systems, thereby managing complexity through functional integration.
3Measurement precision
If motors and actuators are used to control the end effector articulation, then the precision and control capability improve, but the loss of energy increases due to multiple moving parts
Solution Approach 1:
The robotic system incorporates feedback mechanisms (encoders, sensors) that monitor the position and movement of the end effector in real-time. This feedback allows for precise positioning control while enabling energy-efficient operation by allowing the system to maintain position without continuous energy input and to optimize motor operation based on actual load conditions.
Data Source
AI summary
A robotic surgical tool includes a drive housing having a first end, a second end, and one or more splines extending between the first and second ends, a carriage mounted to the one or more splines and movable between the first and second ends, and a cylindrical lead screw operatively coupled to the first end and extending toward the second end, the cylindrical lead screw including an interior sized to receive the splines and the carriage. The carriage is operatively coupled to the cylindrical lead screw such that rotation of the cylindrical lead screw correspondingly causes the carriage to move between the first and second ends.