Surgical System Mimicked Motion Floating Frame
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Solution Overview
Problem
Conventional minimally invasive surgical (MIS) devices have limited motion capabilities and lack true force feedback, leading to increased operator fatigue and high manufacturing costs, while robotic systems provide more degrees of freedom but at the expense of direct human contact with tissue.
Innovation Solution
A surgical system with a mechanical coupling system that mimics the motion of an input tool to an end effector, allowing for intuitive movement with a floating frame and dual-axis swivel joint to maintain parallel orientation and provide additional degrees of freedom, while maintaining direct contact and reducing manufacturing costs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional MIS devices are used, then the device structure is simple and cost is low, but motion capabilities are limited and operator fatigue increases
Solution Approach 1:
The device is divided into separate master and slave assemblies, each with independent drive systems and control mechanisms. This segmentation allows complex motion capabilities to be distributed across modular components, improving versatility while managing complexity through standardized interfaces and independent operation of each assembly
Solution Approach 2:
The invention introduces a floating frame with dual-axis swivel joints that add rotational degrees of freedom beyond simple linear movement. This dimensional enhancement allows the end effector to achieve complex articulation and positioning capabilities in three-dimensional space, transforming basic linear actuation into multi-axis motion control
2Adaptability or versatility
If robotic systems are used, then more degrees of freedom are provided, but direct human contact with tissue is lost and manufacturing cost increases
Solution Approach 1:
The slave assembly is designed as a mechanical copy of the master assembly, with corresponding drive systems and articulation mechanisms. This copying approach enables complex multi-degree-of-freedom motion capabilities while using proven mechanical designs that reduce manufacturing costs compared to developing entirely new robotic systems
Solution Approach 2:
The invention replaces complex electronic robotic control systems with direct mechanical coupling through the floating frame and swivel joints. This mechanical substitution provides multiple degrees of freedom through pure mechanical means, eliminating the need for expensive sensors, motors, and control electronics while maintaining direct tactile feedback
3Ease of operation
If conventional MIS devices are used, then manufacturing cost is low, but operator fatigue increases due to high shear forces
Solution Approach 1:
The floating frame acts as an intermediary mechanical structure between the master and slave assemblies, providing a stable reference frame that reduces shear forces during operation. This intermediate structure absorbs and distributes mechanical loads, decreasing the force requirements at the operator interface while adding controlled complexity to the overall system
Solution Approach 2:
The dual-axis swivel joints change the mechanical parameters of the system by introducing rotational degrees of freedom and altering force transmission paths. This parameter modification allows for more natural hand movements and reduces operator fatigue by aligning the mechanical advantage with the operator's natural motion patterns
4Ease of operation
If robotic systems are used, then intuitive hand movements are achieved, but direct force feedback is lost
Solution Approach 1:
The invention uses direct mechanical coupling through the floating frame and rigid linkages to maintain tactile feedback between the operator and tissue. This mechanical substitution eliminates electronic intermediaries that would isolate the operator from force feedback, while still enabling intuitive movements through the mechanical advantage provided by the swivel joints and articulation mechanisms
Data Source
AI summary
The present invention generally provides methods and devices for controlling movement of an end effector, and in particular for causing mimicked motion between an input tool and an end effector during a surgical procedure. In an exemplary embodiment, a surgical system is provided having a master assembly with an input tool and a slave assembly with an end effector. The master assembly and the slave assembly can be coupled together by a mechanical assembly that is configured to mechanically transfer mimicked, rather than mirrored, motion from the input tool to the end effector. A floating frame is also provided and can be utilized with the surgical system. The floating frame can have a counterbalance that allows the surgical system to “float” above a patient and provide a weightless feel to movement of the surgical system. In addition, the floating frame can provide a number of additional degrees of freedom for ease of movement of the surgical system around the patient and/or the operating room.