Surgical Robot End Effector Linkage Trajectory Alignment
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Solution Overview
Problem
Existing surgical robotic systems face challenges in accurately moving an end effector along a selected trajectory without complex movements of the robot arms, which can lead to inaccuracies due to position sensors and tracking arrays.
Innovation Solution
The end effector is designed with a first and second arm, an anchor mounted to a surgical robot arm, a tool holder for holding surgical tools, and first and second linkage arms coupled between the anchor and the tool holder, allowing for manual manipulation of surgical tools along desired trajectories without additional electromechanical control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If complex coordinated movement of multiple robot arm joints is used to move the end effector along a trajectory, then the surgical instrument can be positioned at specific locations, but inaccuracies in position sensors cause the surgical instrument to go out of alignment with its intended trajectory
Solution Approach 1:
The patent extracts the surgical instrument from the complex robot arm coordination system and provides it with independent movement capability through a dedicated actuation mechanism. The instrument can move along the trajectory independently of the robot arm's complex joint movements, eliminating the accumulation of positioning errors from multiple joints while maintaining trajectory alignment accuracy.
2Reliability
If tracking arrays tracked by a navigation camera system are used to guide robot arm movement, then the surgical instrument can follow the intended trajectory, but the system complexity increases and manual manipulation capability is reduced
Solution Approach 1:
The patent implements a dynamic system where the surgical instrument can operate in two modes: automated trajectory following when precision is critical, and manual manipulation when surgeon control is needed. The actuation mechanism allows smooth transitions between these modes, providing both automated reliability and manual flexibility without requiring complex tracking arrays.
3Measurement precision
If electromechanical robotic control is used to move the surgical tool, then automated precision is achieved, but the system requires additional complex control mechanisms
Solution Approach 1:
The patent introduces a simple actuation mechanism as an intermediary between the surgeon's manual input and the surgical instrument. This intermediary provides automated precision for trajectory following while maintaining a simple, intuitive interface for manual manipulation, avoiding the need for complex electromechanical control systems with multiple sensors and actuators.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution enables precise and accurate movement of surgical tools along selected trajectories, improving the mechanical integrity and accuracy of surgical procedures, such as vertebroplasty, by eliminating the need for complex robotic arm movements.
Implementation Method 1
The anchor includes first and second hinges pivotally coupled to the respective first and second arms and the tool holder includes third and fourth hinges pivotally coupled to the first ends of the respective first and second arms
Data Source
AI summary
A translatable end effector for a surgical robot includes a pair of linkage arms, an anchor adapted to be mounted to an arm of the surgical robot and a tool holder connected to the anchor through the pair of arms. The hinges at the anchor are pivotally and slidably coupled to the pair of arms to allow the arms to pivot and slide relative to the anchor hinges. The tool holder is configured to hold a surgical tool and has a pair of hinges that pivotally couple to the ends of the linkage arms. The hinges and the linkage arms are configured such that a longitudinal trajectory defined by the surgical tool is maintained as the tool holder translates upwardly and downwardly relative to the surgical robot arm.