Spherical Linkage Surgical Robotic Arm Design
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Solution Overview
Problem
Conventional robotic arms for laparoscopic surgery have complex structures and require extensive calculations for precise control, making them cumbersome and reducing readability of data displayed on surgical instruments due to large turning angles.
Innovation Solution
A spherical linkage type surgical robotic arm design with uniform link lengths and a proportional wheel mechanism, which simplifies calculations and reduces the turning angle of surgical instruments, enhancing control and readability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If conventional robotic arms with five-bar spherical linkage are used, then the surgical instrument can pass through the center of spherical rotation, but the large turning angle of the surgical instrument reduces the readability for the surgeon
Solution Approach 1:
The patent introduces an extension portion as an intermediary element between the link and the surgical instrument. This extension portion allows the surgical instrument to be positioned such that it does not undergo large turning angles during operation, thereby improving readability while still enabling the instrument to pass through the center of spherical rotation when needed
2Measurement precision
If each link has a different length in five-bar spherical linkage, then the robotic arm can achieve precise positioning, but it requires a large amount of calculations to precisely move the outward axis
Solution Approach 1:
The patent employs asymmetric link length configuration in the five-bar spherical linkage mechanism. By carefully selecting specific link lengths that are not all equal, the mechanism achieves precise positioning capability while simplifying the mathematical model and reducing calculation complexity compared to general asymmetric designs
3Adaptability or versatility
If a parallel spherical five-bar linkage is used, then the surgical instrument can be affixed to an extension portion of one link, but the large turning angle during link movement reduces readability
Solution Approach 1:
The patent utilizes the extension portion to effectively add a dimensional offset between the link rotation axis and the surgical instrument mounting point. This dimensional change allows the instrument to be mounted flexibly on the link while experiencing reduced turning angles, improving readability without sacrificing adaptability
Data Source
AI summary
In order to reduce the calculation in robotic arm allocation, the invention provides a spherical linkage type surgical robotic arm, which includes a first curved bar having a first axis center and a second axis center, a second curved bar being equal to the first curved bar in length and having a third axis center and a fourth axis center, the third axis center in coincidence with the first axis center, a third curved bar having a fifth axis center and a sixth axis center and being pivoted to the second curved bar, and a fourth curved bar having a seventh axis center and an eighth axis center and being pivoted to the third curved bar and the first curved bar, thereby reducing the calculation burden and facilitating control and allocation.