Surgical Manipulator Actuator Segmentation Singularity
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Solution Overview
Problem
Conventional surgical manipulators face limitations in torque application and singularity points, restricting their operational capabilities, especially in orientations where they become locked or impeded, leading to reduced dexterity and precision for surgeons during complex procedures.
Innovation Solution
A manipulator system with multiple actuator systems, each capable of independent movement, providing at least three degrees of freedom, and incorporating a four-bar linkage or mixed architectures to support a body with six degrees of freedom, including a redundant seventh degree for improved torque delivery and reduced singularity points.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional six-degree-of-freedom manipulators are used, then the basic operational capability is provided, but the torque application is limited and singularity points occur restricting operational envelope
Solution Approach 1:
The manipulator is divided into multiple independent actuator systems (first, second, and third actuator systems), each capable of independent movement. This segmentation allows each actuator system to contribute differently to the overall motion, enabling the body to achieve six degrees of freedom while avoiding singularity points and expanding the operational envelope beyond traditional six-degree manipulators.
Solution Approach 2:
The patent adds a redundant seventh degree of freedom by integrating a third actuator system that can move at least a portion of the body with at least one degree of freedom independently of the first and second actuator systems. This additional dimension allows the manipulator to operate in orientations where conventional six-degree manipulators would encounter singularity points or torque limitations.
2Force
If more actuator systems are added to increase degrees of freedom, then torque application and movement flexibility improve, but device complexity increases
Solution Approach 1:
The manipulator is divided into multiple independent actuator systems (first, second, and third actuator systems), each capable of independent movement. This segmentation allows each actuator system to contribute differently to the overall motion, enabling the body to achieve six degrees of freedom while avoiding singularity points and expanding the operational envelope beyond traditional six-degree manipulators.
Solution Approach 2:
The patent employs dynamic actuator systems where the first and second actuator systems can move the body with three degrees of freedom each, while the third actuator system provides an additional degree of freedom. This dynamic configuration allows the manipulator to adapt its torque application and movement capabilities based on operational requirements, improving force application without rigidly increasing complexity.
Data Source
AI summary
A manipulator, such as for use in medical procedures, is provided. The manipulator includes a body and a first actuator system connected to the body at a first attachment point and capable of moving the first attachment point with at least three degrees of freedom. A second actuator system is connected to the body at a second attachment point and capable of moving the second attachment point with at least three degrees of freedom. A third actuator system is integrated with the body and is capable of moving at least a portion of the body with at least one degree of freedom.