Surgical Arm Base Inclined Roll Joint Positioning
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Solution Overview
Problem
In surgical systems, the arm base attached to manipulator arms is typically positioned higher than the surgeon, requiring the operator to lower it, which can cause discomfort and oppression during preparation.
Innovation Solution
A patient-side apparatus with manipulator arms and an arm base connected via a positioner with inclined roll joints, allowing the arm base to be positioned obliquely above the surgery site, enabling offset placement and reducing operator oppression.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the arm base is positioned higher than the operator to enable manipulator arms to cooperate over the surgery site, then the manipulator arms can perform delicate procedures effectively, but the operator feels oppressed and uncomfortable during preparation
Solution Approach 1:
The patent introduces a roll joint that enables rotation around an axis perpendicular to the conventional vertical and horizontal axes. This adds a rotational degree of freedom in a new dimension, allowing the arm base to be positioned obliquely above the surgery site rather than directly above, thereby resolving the conflict between maintaining high positioning for manipulator cooperation and ensuring operator comfort
2Stability of the object's composition
If the arm base is positioned directly above the surgery site for optimal manipulator alignment, then the manipulator arms can cooperate effectively, but the positioner and arm base occupy space directly over the surgery site causing operator oppression
Solution Approach 1:
The patent employs asymmetric positioning by introducing an oblique orientation through the roll joint. Instead of symmetric vertical alignment directly above the surgery site, the arm base is positioned at an angle, creating an asymmetric configuration that maintains manipulator alignment while offsetting the positioner and arm base from the direct overhead position, thereby reducing operator oppression
Data Source
AI summary
A patient-side apparatus of a surgical system according to an embodiment may include: manipulator arms with multi-degree of freedom, each of which includes a distal end portion provided with a tool holding part configured to hold an elongated surgical tool; an arm base to which base end portions of the manipulator arms are attached; a base; and a positioner that includes links and joints to connect the base and the arm base such that the positioner movably holds the arm base. The links include a first link that is connected to a central portion of the arm base in a longitudinal direction of the arm base with a first roll joint arranged between the first link and the arm base. The positioner holds the arm base such that a first rotation axis of the first roll joint is inclined with respect to both a vertical direction and a horizontal plane.