Passive Surgical Manipulator Handheld Drive Unit Positioning
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Solution Overview
Problem
Existing passive surgical manipulators face challenges in simplifying the positioning of surgical instruments, particularly due to complex drive systems and difficulties in connecting the frame to a tripod, which complicates their integration with holding arms and increases production costs.
Innovation Solution
A passive surgical manipulator design featuring self-locking link assemblies and a hand-held drive unit with multiple interfaces for sequential actuation, allowing for intuitive operation and simplified construction, where a single drive motor in the hand-held unit adjusts both articulation points, and optional magnetic coupling for easy alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a passive surgical manipulator uses multiple separate drive units for each articulation point, then precise positioning of the instrument is achieved, but the device complexity and production cost increase
Solution Approach 1:
The patent combines multiple drive functions into a single handheld drive unit that can sequentially couple to multiple interfaces (first, second, third, and fourth interfaces) on the manipulator. This single drive unit replaces what would traditionally require multiple separate drive units, thereby reducing device complexity while maintaining the ability to precisely position both articulation points through sequential actuation
Solution Approach 2:
The handheld drive unit is designed to be temporarily and sequentially coupled to different interfaces during operation. This dynamic coupling approach allows one drive unit to serve multiple functions at different times, reducing the need for permanent multiple drive units while maintaining precise positioning capability throughout the surgical procedure
2Adaptability or versatility
If the frame is designed to allow plane movement for instrument positioning, then versatility in surgical setups is improved, but the difficulty of attaching the frame to a tripod increases
Solution Approach 1:
The manipulator system is segmented into separate functional components: the manipulator body with its plane movement capability for versatility, and the tripod attachment as a separate interface. This segmentation allows the manipulator to maintain its adaptable plane movement while the attachment interface can be independently designed and optimized for easy connection to the tripod or holding arm
3Ease of manufacture
If a handheld drive unit is used to reduce device complexity, then production cost is reduced, but the ease of operation may be compromised
Solution Approach 1:
The handheld drive unit serves as an intermediary between the operator and the manipulator's multiple interfaces. It provides a unified control interface that sequentially couples to different articulation points, simplifying the operator's interaction while maintaining the ability to precisely control both articulation points. The sequential coupling mechanism acts as a mediator that translates simple operator actions into complex multi-point positioning
Data Source
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AI summary
The invention relates to a passive surgical manipulator (10) for holding and positioning a surgical instrument (12), with a frame (14), a first link arrangement (16) which comprises at least one link (20, 22, 24, 26) and which connects the frame (14) in an articulated manner to a first hinge point (17) assigned to the instrument (12), and a second link arrangement (18) which comprises at least one link and which connects the frame (14) in an articulated manner to a second hinge point (19) assigned to the instrument (12), wherein the two link arrangements (16, 18) are configured such that the first hinge point (17) is movable in a first movement plane and the second hinge point (19) is movable in a second movement plane, wherein the first link arrangement (16) is connected to the frame (14) at first and second adjustment mechanisms (28, 30), and the second link arrangement is connected to the frame (14) at third and fourth adjustment mechanisms (32, 34). According to the invention, provision is made that the first adjustment mechanism (28) has a first interface (38), the second adjustment mechanism (30) has a second interface (40), the third adjustment mechanism (32) has a third interface (42), and the fourth adjustment mechanism (34) has a fourth interface (44) for temporarily receiving a corresponding interface (70) of a hand-held drive unit (50), such that the hand-held drive unit (50) can be coupled temporarily and sequentially to the first, second, third and fourth interfaces (38, 40, 42, 44) for the purpose of transmitting an adjustment movement in order to move the first and second hinge points (17, 19) and to position them in a predefined desired position.