Robotic Surgical Arm Assembly for Remote Center of Motion Control
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Solution Overview
Problem
Current robotic surgical systems face limitations in the precise movement and adjustment of surgical instruments and endoscopes within a patient's body cavity, particularly in maintaining the remote center of motion at an incision location while allowing for varying insertion depths and orientations.
Innovation Solution
A robotic surgical system with a central drive unit and arm assembly that allows for movement in multiple planes and axes, including pitch, yaw, and horizontal directions, coupled with actuators and joints that can be robotically controlled to adjust the position and depth of surgical instruments and endoscopes based on operator input, enabling precise manipulation within a surgical space.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robotic arm assembly is designed to move in multiple planes and axes to adjust pitch and yaw, then the range of motion and flexibility are improved, but the device complexity increases
Solution Approach 1:
The robotic arm assembly is divided into multiple transverse arms (first, second, third transverse arms) that can independently pivot about vertical axes, with a vertical arm section extending downward. Each arm segment can be controlled independently to achieve complex spatial positioning while maintaining manageable individual component complexity
Solution Approach 2:
The system adds vertical movement capability to the traditional horizontal robotic arm configuration. The vertical arm section extending downward from the third transverse arm enables pitch adjustment in addition to yaw control, creating three-dimensional positioning capability that resolves the contradiction between range of motion and complexity by organizing degrees of freedom across multiple spatial dimensions
2Measurement precision
If the remote center of motion is maintained at the incision location while allowing adjustment of insertion depth, then surgical precision is improved, but the device complexity increases
Solution Approach 1:
The remote center of motion (RCM) mechanism acts as an intermediary that decouples the incision point positioning from the insertion depth adjustment. The RCM pivot points at the incision location on the patient's body, while the insertion tube can be extended or retracted independently through the abdominal wall, allowing depth adjustment without compromising the precision of the surgical tip position
Solution Approach 2:
The insertion tube is segmented into an external portion and an internal portion that can be independently adjusted. The external insertion tube can be retracted or extended relative to the internal insertion tube, enabling control of insertion depth while maintaining the RCM at the incision site for surgical precision
3Ease of operation
If multiple joints and actuators are added to control lateral position, pitch and yaw, then the ease of operation is improved, but the device complexity increases
Solution Approach 1:
The central drive unit serves multiple functions: it houses the drive mechanisms for all joints, contains the control system, and acts as the mounting point for surgical instruments. This multi-functionality consolidates complexity into a single unit while providing comprehensive control capabilities for lateral position, pitch, and yaw adjustments
Solution Approach 2:
The system incorporates sensors and control systems that provide feedback on the position and orientation of the arm assembly and surgical instruments. This feedback enables precise control of multiple joints through a simplified operator interface, improving ease of operation while the complexity is managed through automated control algorithms
Data Source
AI summary
A robotic surgical system is provided with a central drive unit that supports and operates one or more robotic tools and a robotic arm and boom assembly that movably supports the control unit assembly in space. The robotic arm and boom assembly selectively allows movement of the control unit assembly along a plane, as well as in pitch and yaw, upon actuation of one or more actuators of the robotic arm and boom assembly to allow movement of the central drive unit.