Articulated Surgical Arm Control for Complex Anatomical Access
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Solution Overview
Problem
Current surgical robotic systems face challenges in providing intuitive and precise control of mechanical arms within the human body, particularly in accessing targets through complex anatomical paths and varying angles, which limits their effectiveness in minimally invasive procedures.
Innovation Solution
A surgical system featuring mechanical arms with articulated limbs and a controller that mimics human arm movements, allowing for intuitive control and precise manipulation by mapping user limb movements to corresponding surgical device movements, including flexible and rotatable segments with low-friction joints and locking mechanisms for stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional surgical robotic systems use rigid mechanical arms with fixed joints, then structural stability is maintained, but the ability to access complex anatomical paths and vary angles is limited
Solution Approach 1:
The mechanical arm is divided into multiple articulated segments that can independently move and articulate. Each segment contains flexible portions with multiple degrees of freedom, allowing the arm to navigate complex anatomical paths by coordinating movement across segments rather than requiring a completely flexible structure.
Solution Approach 2:
The mechanical arm incorporates dynamic joints that can change their configuration and articulation angles during operation. The joints include flexible portions that allow dynamic adjustment of the arm's path and orientation, enabling adaptation to complex anatomical structures while maintaining mechanical stability through controlled movement.
2Measurement precision
If the input device uses articulated limbs with multiple joints to match surgical device complexity, then control precision is improved, but the ease of operation increases difficulty
Solution Approach 1:
The input device is designed as a simplified copy or analog of the surgical device's articulated structure. The input device includes articulated limbs that mirror the configuration and joint arrangements of the surgical mechanical arms, allowing the operator to intuitively control the surgical device by replicating natural arm movements rather than learning complex control mechanisms.
Solution Approach 2:
The articulated input device serves multiple functions: it provides intuitive control through anatomical mimicry, maintains precise control through coordinated joint movement, and reduces operational complexity by using the operator's own body mechanics. The same input device structure controls multiple surgical arms simultaneously.
3Ease of operation
If flexible portions with multiple degrees of freedom are used in mechanical arms, then dexterity in complex paths is enhanced, but friction and instability in joints increase
Solution Approach 1:
The joint design incorporates mechanisms to dynamically adjust friction and stiffness parameters. The joints can change their mechanical properties during operation, providing low friction during movement phases and high stability during positioning phases, thereby reconciling the need for both dexterity and reliability in the flexible mechanical arm portions.
Data Source
AI summary
A method of initializing the layout of one or more robotic arms controllable by an input object, comprising: entering a paused mode, in which control of movement of the robotic arms by the input object is paused; measuring an input object initialization layout, defined by the layout of at least one segment of the input object; actuating at least a portion of the robotic arms to match the input object initialization layout; and entering a controlled mode, in which movements of the input object control the robotic arms.