Robotic Surgical Assembly With Shared-Workspace Micro-Positioning
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Solution Overview
Problem
Current robotic surgical assemblies face challenges in achieving precise kinematic control and miniaturization, with existing systems being cumbersome and requiring extensive training due to complex motion strategies and friction issues in tendon-guiding systems, limiting their versatility and precision in microsurgical procedures.
Innovation Solution
A robotic surgical assembly with a macro-positioning arm and multiple micro-positioning devices, each with motorized degrees of freedom, allows for precise translational and rotational movements, decoupling positioning and orientation within a shared workspace, and features a tendon drive system optimized for miniaturization with reduced friction, enabling easier handling and broader surgical applicability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a plurality of independent movements are coordinated for small motions of the surgical instrument, then the surgical instrument can be positioned accurately, but the control complexity and encumbrance in the operating work-field increase significantly
Solution Approach 1:
The robotic system is divided into a macro-positioning arm for coarse positioning and micro-positioning devices for fine adjustments. This segmentation allows independent control of positioning and orientation, reducing the complexity of coordinating multiple independent movements while maintaining kinematic accuracy.
Solution Approach 2:
A shared workspace is introduced as an intermediary between the macro-positioning arm and micro-positioning devices. This shared workspace decouples the coordination requirements, allowing the macro arm to position the instrument within the workspace while micro-positioning devices handle precise orientation and fine positioning, thereby reducing control complexity.
2Adaptability or versatility
If joints are placed further away from the instrument tip, then the range of motion is improved, but the encumbrance in the operating field increases
Solution Approach 1:
The robotic system separates the joints into two functional groups: the macro-positioning arm provides coarse positioning with joints positioned for optimal range of motion, while micro-positioning devices with their own joints handle fine adjustments near the instrument tip. This segmentation allows each joint to be optimally positioned for its specific function, improving range of motion without increasing encumbrance.
3Length of moving object
If a tendon-guiding system is used for miniaturization, then the device size is reduced, but friction issues arise that limit precision
Solution Approach 1:
The system uses a tendon-guiding mechanism in the macro-positioning arm for miniaturization while incorporating direct-drive or low-friction mechanisms in the micro-positioning devices. This segmentation allows the tendon system to provide compact structure where friction is less critical, while precision-critical components use alternative mechanisms, thereby achieving miniaturization without sacrificing positioning precision.
4Extent of automation
If master command devices are mechanically linked to motion recording stations, then teleoperation is enabled, but the movement is limited and the devices become large
Solution Approach 1:
A shared workspace serves as an intermediary that decouples the master command device from the motion recording station. The macro-positioning arm operates within this shared workspace independently, allowing the master device to be compact and highly mobile while still enabling full teleoperation capability through coordinated control with the micro-positioning devices.
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).