Single-Arm Surgical Robot Posture Adjustment Mechanism
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Solution Overview
Problem
Existing surgical robots with multi-arm architectures face challenges in single-port or few-port minimally invasive surgeries due to interference and limited working space, which can lead to malfunction and damage to the patient's incision.
Innovation Solution
A robotic arm with a single-arm structure and a posture adjustment mechanism that includes two rotation and pitching functions, allowing for flexible and free spatial posture adjustments, such as deflection, pitching, and rolling, relative to a remote center of motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a multi-arm architecture is used, then the robot can perform multi-port minimally invasive endoscopic surgeries, but the robotic arms interfere with each other and have limited working space in single-port or few-port surgeries
Solution Approach 1:
The patent divides the surgical robot system into a single robotic arm instead of multiple arms, segmenting the functionality to match single-port or few-port surgical requirements. This eliminates the interference problem between multiple arms while maintaining surgical capability through the postural adjustment mechanism.
Solution Approach 2:
The patent introduces a postural adjustment mechanism with rotation and pitching functions that enable dynamic adaptation of the robotic arm's orientation. This dynamic adjustment capability allows the single arm to perform operations that would traditionally require multiple fixed-position arms, resolving the contradiction between versatility and ease of operation.
2Ease of operation
If a single-arm structure is used, then movement interference and limited working space are avoided, but the freedom of movement cannot be flexibly adjusted for precise operation requirements
Solution Approach 1:
The patent implements a postural adjustment mechanism with rotation joints and pitching assemblies that provide dynamic freedom of movement. The rotation base allows rotation around a vertical axis, while the pitching assembly enables pitching movement around a horizontal axis, giving the single arm the adaptability needed for precise operations without interference.
Solution Approach 2:
The single robotic arm is designed with multi-functional capabilities through the postural adjustment mechanism, allowing it to perform various surgical operations that would traditionally require multiple specialized arms. This universal design resolves the contradiction by providing both ease of operation and adaptability.
3Quantity of substance
If existing surgical robots are used for single-port or few-port surgeries, then the equipment is available, but the robotic arms cannot function normally and may cause damage to the patient's skin incision
Solution Approach 1:
The patent segments the robotic system into a single arm with specialized postural adjustment capabilities, separating the functionality needed for single-port surgeries from the multi-arm configuration. This segmentation eliminates the reliability issues caused by multiple arms interfering with each other and the incision site.
Solution Approach 2:
The patent incorporates a control system that receives feedback about the robotic arm's position and orientation, adjusting the postural adjustment mechanism to maintain proper alignment during operations. This feedback mechanism ensures reliable function and prevents damage to the patient's skin incision by preventing improper arm positioning.
Data Source
AI summary
A robotic arm for minimally invasive surgery, comprising: a support mechanism, with a support base and a distal end connected by a movable connector; a posture adjustment mechanism with a rotation and pitching member rotatably connected to the distal end. The end of the rotation and pitching member is rotatably provided with an instrument base. A first rotation axis of the rotation and pitching member and a second rotation axis of the instrument base intersect at the remote center of motion. The rotation and pitching member drives the instrument base to pitch. An instrument driving mechanism is connected to the instrument base to install and drive surgical instruments. The robotic arm adopts a single-arm structure and is suitable for minimally invasive surgeries such as single-port or few-port surgeries. Flexible and free spatial posture adjustment like deflection, pitching, and rolling of the instrument base are achieved.