Modular Surgical Robot Arm With Mechanical RCM and Translation

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Solution Overview

Problem

Existing surgical robot arms require complex control mechanisms to perform both RCM (remote center of motion) and translation motions, necessitating the use of multiple motors and joints, which can be cumbersome and inefficient.

Innovation Solution

A surgical robot arm design that enables RCM and translation motions through the use of only two motors by employing a mechanism where a remote center of motion is formed at a parallelogram vertex, allowing these motions to be performed mechanically without additional software control.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If multiple motors and joints are used to control RCM and translation motions, then motion control capability is improved, but device complexity increases

Engineering Contradiction:

Improvemotion control capabilityVSAvoidnumber of motors and joints

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent replaces software-based control of multiple motors with a purely mechanical linkage system. The parallelogram mechanism and spherical joint configuration enable RCM and translation motions to occur through mechanical constraints alone, eliminating the need for complex multi-motor coordination algorithms and reducing device complexity while maintaining full motion control capability

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The surgical robot arm uses a universal spherical joint that can perform both RCM (remote center of motion) and translation motions within a single mechanical structure. This multi-functional joint design allows the system to achieve multiple degrees of freedom without requiring separate motors for each motion type, thereby reducing overall device complexity while maintaining versatility

Inventive Principle:

Principle #6Universality (Multi-functionality)

2Manufacturing precision

If software control is used to coordinate multiple motors for RCM and translation motions, then motion precision is improved, but control difficulty increases

Engineering Contradiction:

Improvemotion precisionVSAvoidcontrol difficulty

Core Design Contradiction:

Manufacturing precisionVSDifficulty of detecting and measuring

Solution Approach 1:

The patent substitutes software control with mechanical constraints through a parallelogram linkage mechanism and spherical joint configuration. The geometry of these mechanical components inherently enforces RCM and translation motions, eliminating the need for complex software coordination while maintaining motion precision through physical constraints rather than computational control

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Ease of operation

If independent control of RCM and translation motions is implemented, then operational flexibility is improved, but system complexity increases

Engineering Contradiction:

Improveoperational flexibilityVSAvoidcontrol mechanism complexity

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The surgical robot arm employs a universal spherical joint that inherently provides independent RCM and translation control capabilities within a single mechanical structure. This multi-functional joint design allows operators to perform both types of motions independently without requiring separate control systems, thereby maintaining operational flexibility while minimizing the addition of control mechanisms and system complexity

Inventive Principle:

Principle #6Universality (Multi-functionality)

Data Source

PatentUS12533198B2Surgical robot arm

Publication Date: 2026.01.27 LIVSMED INC

AI summary

Provided is a surgical robot arm, and more particularly, a minimally invasive surgical robot arm formed in a modular form to be used in laparoscopic surgery or various other surgeries.