Single-Arm Medical Robot With Pitching and Deflection Control
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Solution Overview
Problem
Existing medical robots are large in size, limiting flexibility and precision in surgical operations, and puncture surgeries rely heavily on manual adjustments, leading to inaccuracies and increased risk.
Innovation Solution
A medical robot with a single-arm mechanism incorporating a pitching and deflection adjusting mechanism, along with a surgical auxiliary positioning system that includes modules for image capturing, navigation, and workstation control, allowing for precise adjustments and reduced space occupation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a medical robot uses multiple wrist joints for position adjustment, then the positioning flexibility is improved, but the accumulated error increases and the operation limitation becomes larger
Solution Approach 1:
The robotic arm is divided into multiple independent segments (first robotic arm segment, second robotic arm segment, third robotic arm segment) connected by single joints. Each segment can be independently controlled, allowing flexible positioning while maintaining accuracy by avoiding the accumulation of errors from multiple joints in a single chain.
Solution Approach 2:
The patent transitions from a traditional multi-joint wrist mechanism to a multi-segment arm structure that operates in different spatial dimensions. The segments move in coordinated fashion across multiple dimensions to achieve positioning, reducing the reliance on complex wrist joint rotations and thereby minimizing accumulated angular errors.
2Device complexity
If a medical robot uses directional movement in a single direction, then the device complexity is reduced, but the adaptability to complex surgical conditions deteriorates
Solution Approach 1:
Each robotic arm segment is designed with universal joints that can accommodate movement in multiple directions. This allows a relatively simple segmented structure to perform complex surgical tasks by coordinating the movement of multiple segments, achieving both simplicity and adaptability.
Solution Approach 2:
The robotic arm segments are designed to be dynamically adjustable, allowing the operator to change the configuration and movement range of each segment during surgery. This dynamic adaptability enables the system to handle various surgical conditions without requiring an overly complex fixed mechanism.
3Stability of the object's composition
If a medical robot has a large apparatus size, then the structural stability is improved, but the operator flexibility and control capability deteriorate
Solution Approach 1:
The robotic system is segmented into multiple independent arm segments that can be positioned and stabilized independently. This allows the overall system to maintain structural stability through proper segmentation and positioning, while the modular nature enables flexible reconfiguration for different surgical scenarios without requiring a large monolithic structure.
Data Source
AI summary
The provided is a medical robot, including single-arm mechanism, which including pitching adjusting mechanism and deflection adjusting mechanism. One end of telescopic pull rod of pitching adjusting mechanism is hinged to one end of hinge portion, other end connects to pitching motor; other end of hinge portion hinges to one end of main rotating shaft to be driven by pitching motor to slide telescopically relative to main rotating shaft to implement pitching movement of hinge portion. First gear of deflection adjusting mechanism meshes with second gear and sleeves outer wall of main rotating shaft, main rotating motor drives first gear by second gear, to drive main rotating shaft to rotate, such that deflection adjusting mechanism implements deflection movement of pitching frame by means of transmission of main rotating shaft of pitching adjusting mechanism. The further provided are surgical auxillary positioning system and control method.