Surgical Robot Drive Layout for Compact Thermal and EMI Control
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Solution Overview
Problem
Traditional interventional surgical robots face challenges due to sterile operating protocols and confined workspace, leading to intricate cable routing, stringent thermal management, and electromagnetic interference, which affect the stability and reliability of the drive apparatus.
Innovation Solution
A drive apparatus for surgical robots is designed with an assembly frame, multiple drive motors, and drivers, including single-axis and multi-axis drivers, configured in a compact layout to efficiently utilize space, enhance control accuracy, and improve heat dissipation, while incorporating external encoders and safety features for precise operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If the drive apparatus is made highly compact to meet sterile operating protocols and confined workspace, then the space utilization is improved, but the cable routing becomes intricate and thermal management becomes challenging
Solution Approach 1:
The drive apparatus is divided into modular components: drive motors mounted on the first frame plate, drivers mounted on the second frame plate, and a controller. This segmentation allows for organized cable routing between modular components rather than complex routing through a single compact space. The mechanical arm interface is also segmented into separate connection points for power, communication, and air convection.
Solution Approach 2:
The patent transitions from a single-plane compact layout to a three-dimensional arrangement with frame plates positioned at different heights and depths. The first frame plate holds drive motors, the second frame plate holds drivers, and the controller is positioned separately, creating vertical and depth-based separation that simplifies cable routing while maintaining compact overall volume.
2Volume of moving object
If the drive apparatus is made highly compact to meet sterile operating protocols and confined workspace, then the space utilization is improved, but thermal management becomes stringent
Solution Approach 1:
The air convection interface is extracted as a separate functional element from the main drive apparatus body, allowing thermal management to occur at the periphery rather than within the compact internal space. This enables heat dissipation through dedicated airflow paths that do not interfere with the compact arrangement of motors and drivers.
Solution Approach 2:
Air convection is introduced as an intermediary thermal management mechanism between the heat-generating components (drive motors and drivers) and the external environment. The air convection interface acts as a mediator that facilitates heat transfer without requiring direct thermal contact or complex active cooling systems within the compact volume.
3Volume of moving object
If the drive apparatus is made highly compact to meet sterile operating protocols and confined workspace, then the space utilization is improved, but electromagnetic interference becomes significant
Solution Approach 1:
The controller is extracted from the compact drive apparatus volume and positioned separately, reducing electromagnetic interference between control signals and power/communication lines. This spatial separation allows for better electromagnetic shielding and reduced coupling between different functional modules.
Solution Approach 2:
The driver acts as an intermediary between the controller and drive motors, providing electrical isolation and signal conditioning. This intermediary layer reduces electromagnetic interference by filtering and shielding signals between the controller and motor drivers, allowing compact packaging while maintaining electrical integrity.
Data Source
AI summary
A drive apparatus for surgical robot, and a surgical robot are disclosed, the apparatus comprising an assembly frame, multiple drive motors, at least one driver and a controller; the frame comprising a first frame plate and a second frame plate secured to the first frame plate; each drive motor being mounted on the first frame plate and having a power output end for connecting to and providing driving power for an external device; the driver being mounted on the second frame plate and connected electrically and communicatively to the controller and the drive motors, and being configured to cause the drive motors to output respective powers according to instructions of the controller for providing multiple driving powers for the external device. The surgical robot comprises the apparatus. The drive apparatus enables configuration of multiple drive motors and at least one driver within a surgical robotic actuation device with limited space.