Surgical Arm Gimbal Layout for Wider Endoscope Motion
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Solution Overview
Problem
Existing arm devices for endoscopic surgery suffer from reduced operational freedom due to gimbal portions assuming specific attitudes, impairing operability in various surgical scenarios, particularly when the endoscope observation angle varies.
Innovation Solution
An arm device with a gimbal portion configured to rotate about three axes, including a third rotational axis with an inclination angle of 45 degrees, supported by parallel links and gravity compensators, ensuring consistent operation range and reducing actuator size.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Weight of moving object
If a robotic arm device is designed to be compact and lightweight, then it can be easily integrated into surgical systems and reduced table-side equipment, but it may lack the strength and reach required for complex surgical tasks
Solution Approach 1:
The robotic arm is divided into multiple segments (base unit, first arm unit, second arm unit, hand unit) that can be independently controlled and positioned. This segmentation allows each segment to be optimized for specific functions while maintaining overall compactness and lightweight design.
Solution Approach 2:
The robotic arm employs a nested structure where the first arm unit and second arm unit are arranged in series, with the hand unit positioned at the distal end. This nested arrangement maximizes reach and operational space while minimizing the overall footprint and weight of the system.
2Ease of operation
If the robotic arm has limited degrees of freedom to simplify control, then the system becomes easier to operate, but it reduces adaptability for complex surgical maneuvers
Solution Approach 1:
The robotic arm features dynamic control where the degrees of freedom can be selectively activated based on the surgical task requirements. The control unit dynamically adjusts the number and combination of active degrees of freedom, allowing the system to adapt between simple and complex maneuvers while maintaining ease of operation.
Solution Approach 2:
The robotic arm is designed with multi-functional capabilities where the same physical structure can perform multiple surgical tasks by varying the activation of its degrees of freedom. The hand unit can execute different tool operations (cutting, grasping, retracting) using the same arm structure with different degree of freedom configurations.
3Manufacturing precision
If the robotic arm is designed for precise positioning, then surgical accuracy is improved, but the system becomes more complex and harder to control
Solution Approach 1:
The robotic arm incorporates feedback mechanisms where the control unit continuously monitors the position and orientation of each segment and adjusts the degrees of freedom in real-time to achieve precise positioning. This feedback loop simplifies control by automatically compensating for positioning errors without requiring complex manual adjustments.
Solution Approach 2:
The robotic arm replaces complex mechanical positioning mechanisms with electronically controlled actuators and software-based control algorithms. This substitution reduces mechanical complexity while maintaining or improving positioning precision through digital control and coordination of multiple degrees of freedom.
Data Source
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AI summary
Provided is an arm device. The arm device includes: a first gimbal portion configured to rotatably support an instrument about a first rotational axis extending along an axis line of the instrument; a second gimbal portion configured to rotate the instrument about a second rotational axis extending along a direction intersecting the first rotational axis; a distal portion configured to rotate the instrument about a third rotational axis extending to intersect a plane including the first rotational axis and the second rotational axis. The third rotational axis has an inclination angle greater than 0 degree and less than 90 degrees when a horizontal direction is defined as 0 degree and an upper vertical direction is defined as 90 degrees.