Segmented Robotic Surgical Arm for Flexible Port Placement
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Solution Overview
Problem
Existing robotic surgical systems are difficult to set up and manage, and they tend to be costly, limiting their widespread adoption and efficiency in medical facilities.
Innovation Solution
A robotic arm system comprising a Cartesian arm and a spherical arm with a pitch assembly, tool driver, and end effector, designed for flexible positioning and movement within a patient's body, allowing dynamic adjustment of the remote center of motion and multiple configurations for various surgical procedures, while minimizing collisions and improving accessibility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a traditional robotic surgical system is deployed, then surgical precision and automation are improved, but system complexity and cost increase
Solution Approach 1:
The robotic arm is divided into two functional sections: a Cartesian arm for positioning and a spherical arm for orientation and tool manipulation. This segmentation allows each section to specialize in specific movements, reducing overall system complexity while maintaining surgical automation capabilities
Solution Approach 2:
The robotic arm system is designed to perform multiple surgical tasks including positioning, orienting, and manipulating surgical tools. The system can adapt to different port placements and surgical procedures, providing universal functionality that reduces the need for multiple specialized systems
2Manufacturing precision
If a traditional robotic surgical system is deployed, then surgical precision is improved, but ease of operation deteriorates
Solution Approach 1:
The system allows dynamic adjustment of the remote center of motion (RCM) throughout the surgical procedure. The RCM can be repositioned by adjusting the Cartesian arm position, enabling the system to adapt to different surgical needs and port placements without requiring complete reconfiguration, thus improving ease of operation while maintaining precision
3Stability of the object's composition
If a robotic arm with fixed RCM is used, then mechanical stability is improved, but adaptability deteriorates
Solution Approach 1:
The remote center of motion is designed to be dynamically adjustable rather than fixed. The Cartesian arm can be repositioned to change the RCM location, allowing the system to adapt to different port placements and surgical procedures while maintaining mechanical stability during each configured state
4Volume of moving object
If a compact robotic arm design is used, then space efficiency is improved, but tool reach deteriorates
Solution Approach 1:
The system uses a two-section arm design where the Cartesian arm provides positioning in three-dimensional space and the spherical arm provides orientation and tool manipulation. This dimensional separation allows the system to achieve full tool reach inside the patient's body without requiring a single long arm, maintaining compactness while extending effective reach
Data Source
AI summary
A robotic arm according to various implementations includes: a tool driver configured to hold a surgical tool; a first section comprising a first end coupled to a base, a second end distal from first end; a first link that includes a motor configured to rotate at least a portion of the first section around a pitch axis; a second link coupled to the first link, the second link including a motor configured to rotate at least a portion of the first section around a roll axis; and a second section comprising: a first end coupled to the second end of the first section, a second end distal from the first end, a first link that includes a motor configured to rotate at least a portion of the second section around a roll axis, a second link coupled to the first link.