Surgical Robot Arm Base Arc Motion for Wider Instrument Reach
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Solution Overview
Problem
Existing surgical robots face limitations in adjusting the spatial range of surgical instrument movement due to differences between the reachable surgical field and required surgical regions, necessitating improved integration of arm movements to enhance accessibility.
Innovation Solution
A surgical robot with an articulated robot having six or more axes, including an arm base that rotates in an arc shape around a predetermined position, allowing for the adjustment of the spatial range of surgical instrument movement by controlling the arm base's position and angle through a robot controller.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the platform is rotated around the rotation axis in the horizontal direction only by the wrist link at the tip of the horizontal arm, then the arms can be integrally adjusted, but the spatial range in which the tip of the surgical instrument can move is limited and may not reach the required surgical field region
Solution Approach 1:
The arm system is divided into multiple independent segments (arms 10a, 10b, 10c, 10d) that can be controlled separately while maintaining integral adjustment capability. Each arm can be positioned independently through its own joint mechanisms, allowing the tip of the surgical instrument to reach a broader spatial range while keeping the control mechanism manageable through modular segmentation.
Solution Approach 2:
The invention adds another dimension of movement by allowing the platform to rotate not only around a horizontal rotation axis but also to move in the vertical direction through the wrist link mechanism. This dimensional addition expands the spatial range of the surgical instrument tip while maintaining integral adjustment of the arms through coordinated control of multiple joints.
2Adaptability or versatility
If the arm base rotationally moves in an arc shape around a predetermined position, then the spatial range can be adjusted to suit surgical procedures, but the control system becomes more complex
Solution Approach 1:
The articulated robot with six or more axes serves multiple functions: it can move the arm base in various directions, rotate it around different axes, and position it in different orientations. This multi-functional capability allows a single control system to handle diverse surgical procedures without requiring separate specialized mechanisms for each movement type, thereby managing complexity through universal functionality.
Solution Approach 2:
The robot controller dynamically adjusts parameters such as the number of active axes, the arc shape of movement, and the predetermined position based on the specific surgical procedure requirements. By changing these parameters rather than having fixed mechanical configurations for each surgical scenario, the system achieves adaptability while avoiding the complexity of multiple dedicated mechanical systems.
3Adaptability or versatility
If the plurality of arms are moved to a desired angle and position integrally, then the spatial range is expanded, but the coordination control becomes more difficult
Solution Approach 1:
The control of multiple arms is merged into a unified control approach where the robot controller coordinates the movement of all arms (10a, 10b, 10c, 10d) simultaneously. By combining the control functions and using the articulated robot's multi-axis capability, the system achieves integral movement of the arms to expand spatial range while simplifying the operation through centralized coordination rather than separate control mechanisms for each arm.
Data Source
AI summary
In a surgical robot, a robot controller controls an articulated robot so that an arm base rotationally moves in an arc shape around a predetermined position set at a position away from the arm base.