Surgical Master-Slave Robot Linkage for Stable Workspace Clearance
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Solution Overview
Problem
Existing surgical master-slave robots are insufficiently stable during the removal of the instrument manipulator and often remain in the surgeon's workspace, restricting manual surgery and potentially causing tissue damage.
Innovation Solution
A surgical master-slave robot with a linkage system that provides a combined translational and rotational movement of the instrument manipulator, guided by differently shaped trajectories, ensuring stable and quick removal and repositioning without interfering with the surgeon's workspace.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If the instrument manipulator is temporarily removed from the surgical position to allow manual surgery, then sufficient room is provided for the surgeon to perform manual surgery, but the instrument manipulator remains in the surgeon's workspace which restricts manual surgery and may cause tissue damage
Solution Approach 1:
The instrument manipulator is extracted from the surgeon's workspace by moving it to a standby position located outside the workspace boundaries. The linkage system enables the manipulator to be completely removed from the surgical area, not just repositioned within it, thereby fully resolving the space conflict and eliminating restrictions on manual surgery operations
Solution Approach 2:
The manipulator transition involves both translational and rotational movements along a predefined trajectory, moving the manipulator from the surgical position through a complex path that combines linear displacement and angular rotation. This multi-dimensional movement ensures the manipulator exits the surgeon's workspace completely rather than merely repositioning within the same plane
2Speed
If the instrument manipulator is quickly removed for emergency cases, then response time is reduced, but stability during removal may be compromised which could damage tissue or the robot
Solution Approach 1:
The predefined trajectory is pre-calculated and programmed into the control system before the removal operation begins. This allows the manipulator to execute rapid movements along a predetermined safe path, combining speed with stability by eliminating real-time calculation delays and ensuring the manipulator follows an optimized route that maintains stability throughout the quick removal process
Solution Approach 2:
The control system monitors the manipulator's position and movement parameters in real-time during the removal process, providing feedback to adjust the trajectory dynamically. This ensures that even during rapid removal for emergencies, the manipulator maintains stability and follows a safe path that prevents tissue damage or robot damage
3Adaptability or versatility
If the instrument manipulator is repeatedly removed and returned multiple times during surgery, then manual surgery can be performed when needed, but the repeated operations increase the risk of tissue damage and reduce surgical efficiency
Solution Approach 1:
The linkage system maintains the manipulator in a controlled standby position outside the surgeon's workspace rather than completely removing it. This continuous positioning allows the surgeon to perform manual surgery when needed while the manipulator remains ready for immediate return, eliminating the repeated removal and repositioning operations that reduce surgical efficiency and increase tissue damage risk
Data Source
AI summary
Some embodiments are directed to a surgical master-slave robot for use in minimally (or reduced) invasive surgery on a subject. The robot includes an instrument manipulator for mounting of a surgical instrument, and a linkage system for moveably suspending the instrument manipulator. A first linkage component is configured for guiding a first suspension to move along a first movement trajectory. A second linkage component is configured for guiding a second suspension point to move along a second movement trajectory. The first movement trajectory and the second movement trajectory differ and are selected to provide a combined translational and rotational movement of the instrument manipulator which moves the instrument manipulator along a predefined trajectory from a surgical position to a standby position. The robot may provide a stable removal of the instrument manipulator during a surgery as well as sufficient surgeon's workspace after the removal of the instrument manipulator.