Segmented Surgical Robotic Arm for Compact Setup and Dexterity
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Solution Overview
Problem
Conventional robotic arms for robotic-assisted surgical systems are large, difficult to set up, and have limited arm configurations, restricting accessibility to internal organs and placing high demands on surgeons.
Innovation Solution
A robotic arm design featuring a first segment with five degrees of freedom and a second segment with two degrees of freedom, including a roll link and an instrument driver offset from the plane of the links, allowing for a compact configuration and enhanced dexterity, with a controller for gravity and friction compensation, and a fine positioning clutch for precise movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If conventional robotic arms are used, then robotic assistance is provided, but the arms are large and difficult to set up and manage
Solution Approach 1:
The robotic arm is divided into two distinct segments: a first arm segment with five degrees of freedom for positioning, and a second arm segment with two degrees of freedom for orientation. This segmentation allows each segment to be optimized independently, reducing overall complexity while maintaining full functionality.
Solution Approach 2:
The robotic arm employs dynamic configurations where the second arm segment can rotate around offset axes (roll and pitch axes that do not intersect with the remote center of motion). This dynamic capability allows the arm to adapt to different surgical scenarios, improving ease of operation while managing complexity through controlled flexibility.
2Adaptability or versatility
If conventional robotic arms are used, then robotic assistance is provided, but they have a significantly limited number of arm configurations restricting accessibility
Solution Approach 1:
The second arm segment provides two degrees of freedom through rotation around roll and pitch axes that are offset from the remote center of motion. This dynamic configuration system enables the robotic arm to reach various internal organs and adapt to different surgical approaches, significantly improving accessibility while maintaining manageable device complexity.
Solution Approach 2:
By introducing offset axes for the second arm segment that do not intersect with the remote center of motion, the system adds dimensional flexibility. This allows the robotic arm to access targets from multiple angles and orientations, enhancing versatility without proportionally increasing overall system complexity.
3Ease of operation
If standard MIS systems are used, then minimally-invasive surgery is performed, but higher demands are placed on the surgeon
Solution Approach 1:
The robotic system divides control and movement functions into two segments: the first arm segment handles positioning with five degrees of freedom, while the second arm segment handles orientation with two degrees of freedom. This segmentation reduces surgeon cognitive load by automating complex coordination, easing operation while the structured complexity manages system sophistication.
Data Source
Figure 1A
Figure 1B~1C
Figure 1D
AI summary
A robotic surgical system includes a robotic arm comprising a first segment having a first plurality of links and a first plurality of actuated joint modules providing the robotic arm with at least five degrees of freedom, and a second segment having a proximal end coupled to a distal end of the first segment, and comprising a second plurality of links and a second plurality of actuated joint modules providing the robotic arm with at least two degrees or freedom. The robotic surgical system further comprises an instrument driver coupled to the second segment and configured to hold a surgical instrument. The second arm segment is configured to move the surgical instrument within a generally spherical workspace, and the first arm segment is configured to move the location of the spherical workspace.