Surgical End Effector Interface for Switchable Robot Kinematics
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Solution Overview
Problem
Current surgical robots face challenges in versatility, as each clinical application may require different robotic capabilities and movement ranges, limiting their adaptability without complex changeovers or the need for multiple robotic systems.
Innovation Solution
A robotic surgical system with a modular end effector attachment mechanism that allows the end effector to be mounted in multiple positions and orientations relative to the robot arm, such as at 0 and 90 degrees, enabling different movement kinematics and ranges based on the specific application.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a surgical robot is designed with fixed robotic capabilities and movement ranges, then the robot structure remains simple and reliable, but the robot cannot adapt to different clinical applications requiring different capabilities
Solution Approach 1:
The patent implements dynamic adaptability by enabling the end effector to be mounted in multiple positions and orientations (e.g., 0 and 90 degrees) relative to the robot arm through a modular attachment mechanism. This allows the robotic system to change its movement kinematics and range of motion based on specific clinical applications, transforming a static system into a dynamically adaptable one without requiring multiple complete robotic systems
Solution Approach 2:
The patent creates a universal attachment interface that can accommodate different end effector configurations and orientations. The mount flange and attachment interface are designed to work with multiple end effector positions, allowing a single robotic system to perform multiple surgical functions and adapt to various clinical applications through simple end effector repositioning rather than requiring application-specific robotic systems
2Adaptability or versatility
If multiple robotic systems are used to cover different clinical applications, then each application can have optimized capabilities, but the overall system complexity and cost increase
Solution Approach 1:
The patent makes a single robotic system universal by designing the end effector attachment mechanism to support multiple mounting positions and orientations. The mount flange with rotation axis and the attachment interface allow the end effector to be positioned in different configurations (e.g., 0 and 90 degrees), enabling one robotic system to replace multiple specialized systems while maintaining optimized capabilities for each application through repositioning
3Adaptability or versatility
If complex changeovers are implemented to adapt the robot for different applications, then the robot can switch between capabilities, but the changeover process becomes time-consuming and complicated
Solution Approach 1:
The patent enables quick and simple changeovers by implementing a modular end effector attachment mechanism with a mount flange and attachment interface that allows rapid repositioning of the end effector to different mounting positions and orientations. This dynamic attachment system eliminates complex changeover procedures, allowing users to switch between different clinical application configurations through simple, straightforward steps
Data Source
AI summary
A robotic system according to at least one embodiment of the present disclosure includes a robot arm including a proximal end and a distal end, a mount flange rotationally connected to the robot arm at the distal end along a rotation axis, and an end effector interconnected to the mount flange via an attachment interface disposed between the mount flange and the end effector. The attachment interface fixedly arranges the end effector in one of at least two select positions. A first position of the at least two select positions orients a surgical tool axis of the end effector at a first angle relative to the rotation axis, and a second position of the at least two select positions orients the surgical tool axis of the end effector at a second angle relative to the rotation axis. The second angle is different from the first angle.