Surgical Arm Elbow Coupling Joint for Abdominal Access
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Solution Overview
Problem
Modern surgical technologies face challenges in minimally invasive surgery (MIS) and natural orifice transluminal endoscopic surgery (NOTES), including the need for multiple incisions, limited access of surgical robotic arms within the abdominal cavity, and difficulties in providing sufficient anchoring and reactive forces during procedures.
Innovation Solution
A robotic arm assembly with an elongated structure and elbow coupling joint assembly, featuring a gear train system and planetary gear assemblies, allows for increased degrees of freedom and access to all quadrants of the abdominal cavity, along with an external anchor for stabilization and a port assembly with gate assemblies for instrument access.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If conventional surgical procedures are used, then large access incisions are required to perform surgical actions, but this increases patient trauma and recovery time
Solution Approach 1:
The surgical robotic system divides the surgical instrument into multiple segments including an elongated shaft and a distal tool, allowing the instrument to navigate through small incisions while reaching deep into the abdominal cavity. The segmented structure enables minimally invasive access without requiring large incisions.
Solution Approach 2:
The surgical instrument incorporates multiple degrees of freedom including articulation at the distal end and intermediate joints along the shaft, enabling three-dimensional movement and access to all quadrants of the abdominal cavity through a single small incision site.
2Adaptability or versatility
If multiple incisions are made for MIS procedures, then instrument access is improved, but this increases the number of access points and complicates the procedure
Solution Approach 1:
The surgical robotic system integrates multiple functions including cutting, grasping, retracting, and imaging capabilities within a single robotic arm assembly, eliminating the need for multiple separate instruments and incisions. The end effector can perform multiple surgical tasks without requiring instrument changes or additional access points.
Solution Approach 2:
The system combines the surgical instrument, imaging system, and control mechanisms into an integrated robotic arm assembly that enters through a single incision, merging multiple previously separate components into one unified system that provides both access and functionality.
3Measurement precision
If surgical robotic arms are inserted into the abdominal cavity, then precise surgical actions can be performed, but the arms have limited access to all quadrants
Solution Approach 1:
The surgical robotic arm incorporates dynamic articulation mechanisms including a distal articulation joint and intermediate joints that allow the instrument to change its orientation and reach angle in real-time, enabling access to all quadrants of the abdominal cavity while maintaining precise control during surgical operations.
Solution Approach 2:
The robotic system employs a nested structure where the distal tool is positioned at the end of an elongated shaft, with intermediate joints nested along the shaft length, allowing compact packaging while enabling extended reach and multi-directional access to all abdominal quadrants.
4Stability of the object's composition
If surgical robotic systems provide anchoring forces, then stabilization is improved, but this requires additional components and system complexity
Solution Approach 1:
The surgical robotic system incorporates force reflection capabilities where the robotic arm automatically provides stabilizing forces and counteracts unwanted movements through feedback control, eliminating the need for separate anchoring mechanisms. The system uses the surgeon's natural hand movements and applies equal and opposite forces to maintain stability during surgical procedures.
Data Source
AI summary
Example embodiments relate to robotic arm assemblies. The robotic arm assembly includes forearm and upper arm segments. Upper arm segment includes distal motor. Robotic arm assembly includes elbow coupling joint assembly connecting distal end of upper arm segment to proximal end of forearm segment via a serial arrangement of proximal and distal elbow joints. Proximal elbow joint is located between upper arm segment and distal elbow joint. Distal elbow joint is located between proximal elbow joint and forearm segment. Proximal elbow joint forms proximal main elbow axis. Distal elbow joint forms distal main elbow axis. Elbow coupling joint assembly includes distal elbow joint subassembly connected to forearm segment. Elbow coupling joint assembly includes proximal elbow joint subassembly connecting upper arm segment to distal elbow joint subassembly. Proximal elbow joint subassembly is configured to be driven to rotate forearm segment relative to proximal main elbow axis.