Surgical Robot Arm With Spatial Joints for Compact Bedside Positioning
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Solution Overview
Problem
Laparoscopic robots occupy significant bedside space, encroach on assistant and nurse positions, and have a steep learning curve for null space adjustment, making it difficult to intuitively adjust the robotic arm for surgery.
Innovation Solution
A robotic arm design with a vertically extending first adjustment rotary joint and horizontally extending second rotary joints, combined with a tool arm forming a parallelogram linkage, allows for flexible positioning and posture adjustment of surgical tools, minimizing lateral space occupation and simplifying null space adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If the robotic arm uses a traditional SCARA configuration, then the design is simple, but the arm rods occupy significant lateral space encroaching on bedside space and assistant positions
Solution Approach 1:
The robotic arm transitions from a planar SCARA configuration to a three-dimensional spatial structure with vertically extending first adjustment rotary joints and horizontally extending second rotary joints. This dimensional change allows the arm to achieve the same positioning functionality while significantly reducing lateral space occupation at the bedside.
Solution Approach 2:
The robotic arm is divided into distinct functional segments: adjustment arm with multiple rotary joints, tool arm, and surgical tool linear guide. Each segment performs a specific function and can be independently adjusted, allowing compact arrangement that reduces overall lateral footprint while maintaining design simplicity through modular construction.
2Ease of manufacture
If the robotic arm uses a traditional SCARA configuration, then the design is simple, but assistants and nurses have difficulty intuitively adjusting the posture and null space of the robotic arm
Solution Approach 1:
Different joints are assigned specific rotation axes orientations: first adjustment rotary joints with vertical rotation axes for primary positioning, and second rotary joints with horizontal rotation axes for fine adjustments. This localized functional differentiation makes the adjustment operations more intuitive and easier to learn, as each joint type has a predictable and consistent adjustment characteristic.
3Volume of moving object
If the robotic arm uses a traditional SCARA configuration, then the structure is compact, but null space adjustment requires manual adjustment of numerous joints while ensuring end of instrument and remote center of motion remain stationary
Solution Approach 1:
The robotic arm employs multiple rotary joints with different rotation axes (vertical and horizontal) that can be dynamically adjusted independently. The adjustment rod connects second rotary joints to maintain structural integrity while allowing flexible positioning. This dynamic multi-joint system achieves compactness while simplifying null space adjustment through coordinated motion of fewer joints compared to traditional SCARA configurations.
Data Source
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AI summary
Provided are a robotic arm for a surgical robot and a surgical robot. The robotic arm includes an adjustment arm, a tool arm, and a surgical tool linear guide (60). The adjustment arm includes a first adjustment rotary joint (11), an adjustment rod, and at least two second adjustment rotary joints. The rotation axis of the first adjustment rotary joint (11) extends vertically. One of the at least two second adjustment rotary joints is disposed on the first adjustment rotary joint (11). Two adjacent second adjustment rotary joints are connected by the adjustment rod. The rotation axis of a second adjustment rotary joint extends horizontally. The tool arm includes a first tool rotary joint (15) and a tool arm body. The first tool rotary joint (15) is connected to the adjustment arm. The rotation axis of the first tool rotary joint (15) extends horizontally. The tool arm body is connected to the surgical tool linear guide (60).