Surgical Tool Support Arm Replacing Sliders With Parallel Links
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Solution Overview
Problem
Existing support arm devices for surgical tools using slider mechanisms face issues such as large sliding friction, mechanical complexity, and difficulty in downsizing, leading to increased inertia and interference risks.
Innovation Solution
A support arm device utilizing a parallel link mechanism with a connection mechanism that transforms on a plane intersecting the first plane, allowing the surgical tool to be linearly moved without a slider mechanism, reducing friction and complexity while enabling compact design and expanded range of motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a slider mechanism is used to linearly move the surgical tool, then the surgical tool can move linearly from the base, but large sliding friction occurs
Solution Approach 1:
The patent replaces the slider mechanism with a parallel link mechanism consisting of multiple links and joints. Instead of using sliding contact, the system employs rotational joints (first joint, second joint, third joint) connected by links (support link, opposing link, connection link) to achieve linear movement through coordinated rotation, thereby eliminating sliding friction
Solution Approach 2:
The patent introduces a connection mechanism that transforms movement from one plane to another. The connection mechanism converts rotational movement in a first plane into linear movement in a second plane, allowing the surgical tool to move linearly without requiring sliding contact in the original direction
2Ease of operation
If a slider mechanism is used to linearly move the surgical tool, then the surgical tool can move linearly from the base, but the structure becomes complex
Solution Approach 1:
The patent divides the mechanism into multiple independent links (support link, opposing link, connection link) and joints (first joint, second joint, third joint). Each component has a specific function and can be independently designed, manufactured, and maintained, simplifying the overall structure compared to a monolithic slider mechanism
Solution Approach 2:
The parallel link mechanism serves multiple functions: it provides linear movement capability, maintains structural rigidity, enables compact design, and reduces inertia. The same set of links and joints achieves both the linear motion requirement and the simplification of mechanical structure
3Ease of operation
If a slider mechanism is used to linearly move the surgical tool, then the surgical tool can move linearly from the base, but downsizing becomes difficult and inertia increases
Solution Approach 1:
The patent arranges the links and joints in a compact, nested configuration where components are positioned close to each other and overlap in space. The parallel link mechanism allows links to be arranged in parallel, reducing the overall envelope size and enabling downsizing while maintaining the linear movement capability
Solution Approach 2:
The patent uses a dynamic parallel link mechanism where links and joints can move and reposition during operation. This dynamic capability allows the mechanism to maintain rigidity when needed while minimizing mass during movement, reducing inertia compared to a static slider mechanism
Data Source
AI summary
A support arm device (20) includes: a parallel link mechanism (21) extending in a plane direction of a first plane; and a connection mechanism (22) connected to the parallel link mechanism (21), in which the parallel link mechanism (21) includes: a support link (L89) that supports, on a distal end side, a surgical tool (T) to be inserted into a body of a patient; an opposing link (L57) facing the support link (L89); a first joint (J5) connected to a first end of the opposing link (L57); a second joint (J7) connected to a second end of the opposing link (L57); and a third joint (J1) disposed at a base, the base being an end on a side opposite to the distal end side, the third joint rotationally driven, and the connection mechanism (22) is connected between the second joint (J7) and the third joint (J1), the connection mechanism transformed in a plane direction of a second plane intersecting the first plane in such a manner that the second joint (J7) moves relative to the third joint (J1) in an extending direction of the opposing link (L57).