Surgical Robot Linear Guide for Straight Instrument Insertion
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Solution Overview
Problem
Minimally invasive surgical robots face issues with inflexible motion due to limited surgical space, leading to interference between multiple robots and potential secondary damage to surgical wounds, and require complex mounting and debugging.
Innovation Solution
A surgical robot system with a first robot arm and a second robot arm connected via a linear guide portion, allowing for flexible motion control and linear entry and exit through a surgical wound without multi-axis linkage, using joint encoders and displacement detection mechanisms for precise control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple surgical robots are used to perform surgery, then surgical operations can be completed, but the robots interfere with each other due to limited surgical space
Solution Approach 1:
The surgical robot is divided into two separate robot arms (first robot arm and second robot arm), each with independent control. The first robot arm is responsible for positioning and the second robot arm for surgical operations, allowing them to perform different functions simultaneously without interfering with each other in the limited surgical space
Solution Approach 2:
The patent introduces a linear guide portion that adds a linear motion dimension to the traditional multi-axis rotational motion. This allows the second robot arm to move linearly along the guide portion, providing an additional degree of freedom that enables precise positioning and surgical operations without requiring multiple robots to occupy the same spatial volume
2Ease of operation
If traditional multi-axis linkage is used to move the surgical instrument in and out, then the instrument can be positioned, but it may cause secondary damage to the surgical wound
Solution Approach 1:
The patent extracts the linear motion function from the complex multi-axis linkage system and implements it through a dedicated linear guide portion. This separate linear guidance mechanism allows the surgical instrument to move in and out along a straight path, eliminating the need for complex multi-axis coordination during insertion and extraction, thereby reducing the risk of secondary wound damage
Solution Approach 2:
The linear guide portion acts as an intermediary mechanism between the robot arms and the surgical instrument. It provides a constrained linear motion path that simplifies the control mechanism while ensuring the instrument moves straight in and out, avoiding the complex movements that could cause secondary wound damage
3Productivity
If the motion amplitude of each axis is increased to ensure surgical instrument completes operations, then surgical capability is improved, but multiple robots interfere with each other
Solution Approach 1:
The patent implements dynamic motion distribution where the first robot arm handles positioning movements and the second robot arm handles surgical operations. The linear guide portion enables dynamic linear adjustment of the second robot arm's position, allowing each component to operate with optimized motion amplitudes rather than requiring all components to have large motion ranges, thus reducing interference
Data Source
AI summary
A surgical robot and a surgical robot system is disclosed. The surgical robot comprises a first robot arm, a second robot arm connected to the end of the first robot arm and used for mounting and controlling the motion posture of a surgical instrument, and a controller that controls the motion of the axes of the first robot arm and the second robot arm, wherein the end of the first robot arm is provided with a linear guide portion for the second robot arm to move linearly; and the first robot arm is connected to the end of the linear guide portion that is close to the second robot arm and used for mounting an end of the surgical instrument.