Modular Surgical Robot Manipulator with Rotating Platform
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Solution Overview
Problem
Minimally invasive surgical robotic systems face challenges with limited manipulator degrees of freedom, difficulty in reaching desired positions, and increased risk of motion interference and collisions, which affect safety, convenience, and functionality.
Innovation Solution
A surgical robotic system with an optimized module and manipulator configuration, including a mounting base, support component, and orienting platform, providing multiple degrees of freedom to enhance manipulator adjustment and reduce collision risks, featuring adjustable support components and rotatable platforms to expand the working space and improve surgical robotic system performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the manipulator configuration is optimized with multiple degrees of freedom, then the working space and adjustment convenience are improved, but the device complexity increases
Solution Approach 1:
The manipulator is divided into multiple independent modules, each providing specific degrees of freedom. The support component includes a first support part and a second support part that can move independently, while the orienting platform adds rotational capability. This segmentation allows each module to be optimized separately while collectively providing extensive working space and adaptability.
Solution Approach 2:
The system employs dynamic components including a movable second support part along the first support part, and a rotatable orienting platform. These dynamic elements allow the manipulator to adapt its configuration in real-time during surgical procedures, expanding the working space without requiring a completely complex fixed structure.
2Ease of operation
If the manipulator is adjusted to reach desired positions, then the surgical functionality is improved, but the risk of motion interference and collisions increases
Solution Approach 1:
The orienting platform introduces rotational degrees of freedom around the longitudinal axis, adding a new dimension to manipulator positioning. This rotational capability allows the manipulator to reach desired positions by rotating at the platform level rather than requiring complex adjustments of lower components, thereby reducing motion interference and collision risk among manipulator segments.
Solution Approach 2:
The orienting platform acts as an intermediary component between the support structure and the manipulator. It provides a rotational joint that mediates the transmission of motion, allowing independent rotation without affecting the positional relationships of other components. This intermediary mechanism reduces coupling between degrees of freedom and minimizes collision risk.
3Ease of operation
If the support component and orienting platform are designed for high adjustability, then the convenience of manipulation is improved, but the compactness of the patient side cart is reduced
Solution Approach 1:
The second support part is nested within or alongside the first support part, allowing it to move along the longitudinal direction without significantly increasing the overall footprint. The orienting platform is integrated at the end of the support structure, nesting its rotational mechanism within the existing spatial envelope. This nesting approach maintains compactness while providing high adjustability.
Data Source
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AI summary
Provided is a surgical robotic system (1), comprising a modular structure and a manipulator structure. The modular structure comprises a base structure (10), a supporting structure (11) connected with the base structure (10) and a suspension structure (12) connected with the supporting structure (11). The manipulator structure (13) is connected with the suspension structure (11) in the modular structure. The modular structure comprises at least two degrees of freedom. The modular structure is simple in structure and small in size, and through the optimized modular structure and the manipulator structure (13), the adjustment of the manipulator structure (13) can be completed more conveniently, the movement space of the manipulator structure (13) is expanded, and the possibility of collision of each manipulator structure (13) during the movement is reduced and/or inhibited, thereby improving the safety, convenience, comfort or functionality of the minimally invasive surgical robotic system.