Surgical Robot Arm Layout for RCM Range and Stable Rotation
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Solution Overview
Problem
Current surgical robots used in laparoscopic surgery lack an optimal arrangement of the remote center of motion (RCM) points for surgical instruments, leading to inefficiencies and limitations in maneuverability and precision.
Innovation Solution
A surgical robot design featuring a pair of robot arms with adjustable connection links and extension portions that allow for the RCM points of surgical instruments to be arranged within an optimal range, enabling a maximum rotation angle of 270° or greater and incorporating brakes and bearings to maintain posture stability and compensate for torque and gravity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the robot arm structure is made rigid and fixed, then structural stability is improved, but the maneuverability and adjustment range of surgical instruments deteriorate
Solution Approach 1:
The robot arm employs a dynamic structure with adjustable connection links that can change their length or orientation during operation. This allows the system to adapt the arm configuration to different surgical requirements while maintaining structural integrity, resolving the contradiction between fixed stability and flexible maneuverability
Solution Approach 2:
The robot arm is divided into multiple segmented components including connection links, extension portions, and joint modules. These segments can be independently adjusted to optimize the arm configuration for different surgical tasks, enabling both stability and adaptability
2Adaptability or versatility
If the rotation angle of robot arms is increased to 270° or greater, then the range of motion and surgical accessibility are improved, but the complexity of control and positioning systems increases
Solution Approach 1:
Connection links serve as intermediary elements between the robot arm segments, providing mechanical advantage and simplifying the control required for large rotation angles. These links act as mediators that transform complex multi-degree-of-freedom movements into more manageable motions
Solution Approach 2:
The system incorporates counterweight mechanisms or torque compensation features that balance the robot arm during large rotations, reducing the control effort required and simplifying the positioning system while enabling 270° or greater rotation angles
3Reliability
If brakes and bearings are added to maintain posture stability and compensate for torque and gravity, then operational stability is improved, but the device complexity and number of components increases
Solution Approach 1:
The brake and bearing functions are integrated into the existing joint structures of the robot arm. Rather than adding separate components, the design combines posture stabilization and torque compensation features within the connection links and joints, reducing overall system complexity while maintaining operational stability
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances the maneuverability and precision of surgical instruments by allowing for a wide range of motion and stable operation, reducing the impact of external forces and gravity, thereby improving surgical performance.
Implementation Method 1
at least one of the first arm first connection link, the first arm second connection link, the second arm first connection link, and the second arm second connection link is rotatable about a virtual reference axis so that the RCM point of the first surgical instrument and the RCM point of the second surgical instrument are arranged within a preset range
Implementation Method 2
The first arm connection portion may include a first brake for compensating for a torque generated in one of the first arm first connection link and the first arm second connection link
Implementation Method 3
The first arm unit may include a first bearing arranged on one of the first arm first connection link and the first arm second connection link
Implementation Method 4
The main body may include a gravity compensation portion that is connected to each of the first arm unit and the second arm unit for compensating for the gravity applied to the first arm unit and the second arm unit
Data Source
AI summary
Provided is a surgical robot to be used in laparoscopic surgery or other various surgeries, including a main body, a first arm unit arranged on one side of the main body and having a first surgical instrument attached thereto, and a second arm unit arranged on another side of the main body and having a second surgical instrument attached thereto.