Surgical Robot Gross Positioning with Yaw Pitch Plunge
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Solution Overview
Problem
Current robotic surgical positioning systems are large, cumbersome, and require manual repositioning by surgical staff, which can obstruct the surgical site and increase operative time and stress.
Innovation Solution
A gross positioning system comprising a positioning body with yaw, pitch, and plunge mechanisms, coupled with a robotic surgical device, allowing for automatic positioning within a patient's body cavity without increasing the device's size, using a passive support arm and a 3-degree-of-freedom remote center-of-motion mechanism.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a robotic surgical positioning system is designed to provide comprehensive positioning capabilities, then the positioning precision and degrees of freedom are improved, but the system size and bulkiness increase
Solution Approach 1:
The positioning system is divided into separate functional modules: a gross positioning system with yaw, pitch, and plunge mechanisms for coarse positioning, and a fine positioning system for precise adjustments. This segmentation allows each module to be optimized independently, achieving high positioning precision without requiring the entire system to be large and cumbersome.
Solution Approach 2:
The fine positioning system is nested within or coupled to the gross positioning system, with the in vivo robot positioned within the workspace of the gross positioning system. This nested configuration allows the compact fine positioning system to benefit from the positioning capabilities of the larger gross system while maintaining a smaller overall footprint.
2Adaptability or versatility
If surgical staff manually reposition the robotic system, then the system can be adjusted to different positions, but the surgical site becomes obstructed and operative time increases
Solution Approach 1:
The gross positioning system is equipped with automated actuators (motors, screw mechanisms, and wheel assemblies) that enable the system to reposition itself without manual intervention. The system can automatically adjust the yaw angle, pitch angle, and plunge depth based on pre-programmed coordinates or real-time feedback, eliminating the need for surgical staff to physically move the equipment during procedures.
Solution Approach 2:
The positioning system transitions from a static configuration to a dynamically adjustable one, where the gross positioning mechanisms can be actuated during surgery to adapt to different surgical needs. The system maintains stability during operation while allowing controlled dynamic repositioning when required, reducing the frequency and duration of manual interventions.
3Adaptability or versatility
If the robotic system uses a spherical mechanism to reach the abdominal cavity, then the reachability is improved, but the mechanical complexity and profile increase
Solution Approach 1:
The system uses a remote center-of-motion (RCM) mechanism as an intermediary between the gross positioning system and the in vivo robot. The RCM mechanism allows the end effector motions to pass through a single pivot point (the RCM), enabling the system to reach deep into the abdominal cavity while maintaining a simpler mechanical structure compared to traditional spherical mechanisms. The RCM acts as a virtual pivot that simplifies the kinematics of the system.
Data Source
AI summary
The various embodiments disclosed herein relate to surgical robot positioning systems and devices that aid in the gross positioning of surgical devices during surgical procedures. For example, a gross positioning system for use with a robotic surgical device may include a positioning body, a yaw mechanism operably coupled to the positioning body at a yaw rotational joint, a pitch mechanism operably coupled to the positioning body at a pitch rotational joint, and a plunge mechanism operably coupled to the pitch mechanism, where the plunge mechanism is configured to slide and to be coupleable to the robotic surgical device.