Multi-Port Surgical Robot Architecture With Fixed RC Reorientation
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Solution Overview
Problem
Current minimally invasive robotic surgical systems face limitations in maneuverability, space utilization, setup efficiency, collision prevention, and mechanical complexity, which hinder their effectiveness and ease of use in operating rooms.
Innovation Solution
The proposed robotic surgery system incorporates an orienting platform with movable support linkages that include reorientation mechanisms, such as tornado rotational joints and links, to maintain a fixed remote center of manipulation, allowing for improved positioning and orientation of surgical instruments without imposing forces on the patient, and a modular design with adjustable and positionable components to enhance maneuverability and reduce mechanical complexity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional fixed support structures are used for robotic manipulators, then structural stability is maintained, but maneuverability and space utilization are reduced
Solution Approach 1:
The support linkage is designed as a dynamic structure with movable components including a column that can move vertically, a boom that can extend and retract, and an orienting platform that can rotate. This dynamic configuration allows the system to adapt its support structure to different surgical scenarios, improving maneuverability while maintaining stability when needed.
Solution Approach 2:
The support structure is divided into multiple independent segments: a mounting base, a column with vertical movement capability, a boom with extension capability, and an orienting platform with rotation capability. Each segment can move independently, allowing complex repositioning of the robotic manipulator without requiring the entire structure to be rigid and fixed.
2Area of stationary object
If multiple robotic manipulators are positioned closely for minimally invasive surgery, then space utilization is improved, but collision risk increases
Solution Approach 1:
The orienting platform can rotate to dynamically adjust the angular orientation of each manipulator, allowing close positioning of multiple manipulators while maintaining safe angular separation to prevent collisions. The dynamic rotation capability enables real-time adjustment of manipulator positions and orientations.
3Ease of operation
If repositioning mechanisms are added to improve maneuverability, then positioning flexibility is enhanced, but mechanical complexity increases
Solution Approach 1:
Multiple repositioning functions are merged into a single integrated support linkage structure. The column's vertical movement, the boom's extension, and the orienting platform's rotation are combined in one mechanism that works together to reposition the manipulator, rather than using separate mechanisms for each degree of freedom.
Solution Approach 2:
The support linkage serves multiple functions simultaneously: it supports the weight of the manipulator, provides vertical positioning via column movement, enables radial positioning via boom extension, and allows angular orientation via platform rotation. This multi-functionality reduces the need for additional separate mechanisms.
4Productivity
If setup time is reduced for faster surgical procedures, then productivity increases, but setup precision may be compromised
Solution Approach 1:
The mounting base can be pre-positioned on the surgical table before the actual surgical procedure begins. The column, boom, and orienting platform can be pre-configured to common positions, allowing rapid setup and reconfiguration during surgery without compromising positioning precision, as the preliminary positioning establishes a stable foundation.
Data Source
AI summary
A robotic surgery system includes an orienting platform, a support linkage movably supporting the orienting platform, a plurality of surgical instrument manipulators, and a plurality of set-up linkages. Each of the manipulators includes an instrument holder and is operable to rotate the instrument holder around a remote center of manipulation (RC). At least one of the manipulators includes a reorientation mechanism that when actuated moves the attached manipulator through a motion that maintains the associated RC in a fixed position.