Surgical Manipulator Arm Interference Avoidance

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Solution Overview

Problem

The existing surgical system is prone to interference between manipulator arms and other components or the surrounding environment during movement.

Innovation Solution

The surgical system incorporates a manipulator arm with seven or more degrees of freedom, featuring a distal end roll joint and a pivotal joint, along with a controller that sets a center point and reference point to control joint positioning, ensuring the shaft passes through the center point and the reference plane passes through the reference point.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If the manipulator arm is moved to perform surgical operations, then the surgical tool can reach the target position, but the manipulator arm is likely to interfere with adjacent manipulator arms or surrounding environment

Engineering Contradiction:

Improvemanipulator arm movementVSAvoidinterference with adjacent components or environment

Core Design Contradiction:

Ease of operationVSObject-affected harmful factors

Solution Approach 1:

The controller changes the parameters of joint positioning by setting a center point and reference point, and controlling the manipulator arm to pass through these points. This parameter-based control enables precise movement while avoiding interference with adjacent components or the surrounding environment

Inventive Principle:

Principle #35Parameter changes

Solution Approach 2:

The controller receives operation inputs from the console and processes them to control the actuators, which in turn drive the joints to the desired positions. This feedback mechanism ensures that the manipulator arm moves precisely to the target position without interfering with other components

Inventive Principle:

Principle #23Feedback

2Measurement precision

If the manipulator arm has seven or more degrees of freedom to achieve precise positioning, then the surgical tool can be positioned accurately, but the complexity of the manipulator arm increases

Engineering Contradiction:

Improvepositioning accuracyVSAvoidmanipulator arm structure

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The manipulator arm with seven or more degrees of freedom is designed to perform multiple functions including precise positioning, rotation, and movement through complex trajectories. This multi-functionality allows a single manipulator arm to handle various surgical tasks requiring high precision

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The controller manages the complexity by setting parameters such as center points and reference points, which simplify the control of multiple degrees of freedom. This parameter-based approach enables precise positioning while managing the inherent complexity of the multi-degree-of-freedom structure

Inventive Principle:

Principle #35Parameter changes

Data Source

PatentUS12324639B2Surgical system and method of controlling surgical manipulator arm

Publication Date: 2025.06.10 KAWASAKI JUKOGYO KK

AI summary

A controller of a surgical system is configured to: set a center point; set a reference point on a reference line that is an extension of a rotation axis of a proximal end roll joint or that is offset from the extension in a direction normal to the extension; and position joints of a manipulator arm such that a shaft passes through the center point and that a reference plane passes through the reference point, the reference plane including a rotation axis of a distal end roll joint that coincides with a central axis of the shaft and crossing a rotation axis of a pivotal joint.