Multi-DOF Surgical Mounting Plate Control for Restricted Postures
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Solution Overview
Problem
Existing surgical devices with low degrees of freedom struggle to accurately align and position surgical end-effectors in limited surgical spaces and restricted postures, hindering precise artificial joint surgery.
Innovation Solution
A surgical device with a mounting plate and three actuators that allow for multi-degree-of-freedom movements, including a first actuator for lateral shifting, a second actuator for rotational yawing, and a third actuator for pitching and vertical elevation, enabled by a power transmission system converting motor rotations into linear and rotational motions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a low degree of freedom surgical device is used, then the device structure is simple, but the surgical precision and adaptability in limited surgical spaces deteriorate
Solution Approach 1:
The surgical device is divided into multiple independent actuators (first actuator for lateral shifting, second actuator for rotational yawing, third actuator for pitching) that can be controlled separately. Each actuator handles a specific degree of freedom, allowing complex positioning to be achieved through coordinated operation of simpler individual components, thus maintaining structural simplicity while improving surgical precision
Solution Approach 2:
The device transitions from two degrees of freedom to three or more degrees of freedom by adding actuators that operate in additional dimensions (lateral shifting, rotational yawing, and pitching movements). This dimensional expansion enables the end-effector to reach and precisely position at surgical sites that were previously inaccessible in limited surgical spaces
2Device complexity
If a low degree of freedom surgical device is used, then the device structure is simple, but the adaptability to restricted postures deteriorates
Solution Approach 1:
The surgical device incorporates multiple actuators that enable dynamic adjustment of the end-effector's position and orientation in real-time. The first actuator provides lateral shifting, the second actuator enables rotational yawing, and the third actuator controls pitching movements. This dynamic capability allows the device to adapt to various restricted postures and limited surgical spaces, overcoming the static limitations of low degree of freedom devices
Solution Approach 2:
The multi-actuator system provides universal functionality by enabling the end-effector to perform multiple types of movements (lateral shifting, rotational yawing, pitching) and adapt to different surgical scenarios. This multi-functionality allows a single device to handle various restricted postures and surgical site configurations, replacing the need for multiple specialized devices
3Manufacturing precision
If multi-degree of freedom actuators are added, then surgical precision is improved, but the device complexity increases
Solution Approach 1:
The complex positioning task is segmented into three independent degrees of freedom, each handled by a dedicated actuator. The first actuator manages lateral shifting, the second actuator handles rotational yawing, and the third actuator controls pitching. This segmentation transforms a complex multi-dimensional control problem into simpler independent control tasks, improving surgical precision while keeping individual actuator designs manageable
Solution Approach 2:
The device merges multiple actuator systems (lateral shifting actuator, rotational yawing actuator, and pitching actuator) into a single integrated surgical device. These actuators work in coordination through a unified control system, combining their individual functions to achieve precise multi-degree of freedom positioning of the end-effector, thus improving overall surgical precision
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables precise alignment and positioning of surgical end-effectors according to a pre-set surgical plan, enhancing surgical precision and flexibility in constrained surgical environments.
Implementation Method 1
a first motor configured to drive the mounting plate; and a first power transmission unit configured to transmit power of the first motor to operate the mounting plate
Implementation Method 2
a second motor configured to generate rotational force to rotate the first actuator
Implementation Method 3
a third motor and a fourth motor configured to generate rotational forces to generate a third motion of the mounting plate
Data Source
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AI summary
A surgical device and a method of controlling the surgical device are described. The surgical device includes a mounting plate placed on a plane parallel to both a first axis along which a tool extends and a second axis crossing the first axis, a first actuator configured to generate a first motion of the mounting plate in a direction of the second axis with the mounting plate mounted thereon, a second actuator configured to generate a rotational force to rotate the first actuator around a third axis orthogonal to the first and second axes to generate a second motion of the mounting plate, and a third actuator coupled to the second actuator to transfer the rotational force from the second actuator to the first actuator and generate a third motion by rotating the mounting plate around a rotation axis in the direction of the second axis.