Ergonomic Adjustment Mechanism for Tele-Surgery Master Arms
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Solution Overview
Problem
Current robotic tele-surgery systems are expensive, require high maintenance, and lack flexibility and ergonomics, leading to increased fatigue and reduced precision for surgeons.
Innovation Solution
A modular robotic tele-surgery system with a slave robotic arm having three degrees of freedom and a master robotic arm with six degrees of freedom, along with an ergonomic adjustment mechanism that allows for vertical and horizontal adjustments to maintain a comfortable surgeon posture.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If integrated complex designs are used for robotic surgery systems, then surgical precision and stability are improved, but system cost and maintenance complexity increase significantly
Solution Approach 1:
The robotic surgery system is divided into separate modular components: a robotic arm module, a control module, and a surgical tool module. Each module can be independently manufactured, tested, and maintained. The robotic arm contains articulated segments with independent actuators, allowing precision control without requiring the entire system to be redesigned for maintenance or upgrades.
2Manufacturing precision
If integrated exclusively designed surgical tools are used, then surgical precision is improved, but operating and maintenance costs increase considerably
Solution Approach 1:
The robotic arm is designed with a universal interface that can accommodate multiple types of surgical tools including cutting instruments, grasping tools, and cauterization devices. The end effector can be quickly exchanged between different surgical procedures without requiring custom-built robotic arms for each tool type, significantly reducing manufacturing and maintenance costs.
3Manufacturing precision
If surgeons perform laparoscopic surgery with static postures, then surgical precision can be maintained, but surgeon fatigue increases due to muscle lactic acid accumulation
Solution Approach 1:
The robotic arm incorporates dynamic positioning capabilities with multiple degrees of freedom including vertical adjustment, horizontal adjustment, and rotational articulation. This allows the surgical tool to move dynamically to follow the surgeon's hand movements while maintaining precise positioning, reducing the need for the surgeon to hold static positions for extended periods.
4Ease of operation
If non-ergonomic postures are adopted during surgery, then surgical control can be maintained, but surgeon precision and dexterity are reduced due to physical discomfort
Solution Approach 1:
The robotic arm serves as an intermediary between the surgeon's hand movements and the surgical tool. The surgeon operates the master manipulator in a comfortable seated position, and the robotic arm translates these movements to the slave robot with high fidelity. This intermediary system maintains surgical precision while allowing the surgeon to work from an ergonomic position.
5Adaptability or versatility
If modular designs with conventional hand-held surgical tools are used, then system flexibility and configuration options are improved, but integration precision and stability may be compromised
Solution Approach 1:
The surgical tool is nested within the robotic arm structure, with the tool holder integrated into the end effector of the robotic arm. This nested configuration allows conventional hand-held surgical tools to be securely mounted while maintaining the precision and stability of the robotic positioning system. The tool can be exchanged while keeping the robotic arm structure intact.
Data Source
AI summary
An ergonomic adjustment mechanism comprising a vertical adjustment mechanism to move master robotic arms along a vertical axis. An exemplary vertical adjustment mechanism includes a main shaft extended along a horizontal axis between a first end and a second end, where the horizontal axis may be perpendicular to the vertical axis. The vertical adjustment mechanism further includes a linear actuator coupled to the horizontal beam to actuate a translational movement of the horizontal beam along the vertical axis. The ergonomic adjustment mechanism further includes a horizontal adjustment mechanism to move exemplary master robotic arms along the horizontal axis. The horizontal adjustment mechanism includes a horizontal sliding rail that is mounted on the horizontal beam. Master robotic arms may be slidably mounted on the sliding rail, where the master robotic arms are slidable on the sliding rail along the horizontal axis.