Telecentric Surgical Robotic Arm for Load and Accuracy Stability

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Solution Overview

Problem

Current surgical robotic arms for minimally invasive surgery lack sufficient load capacity and execution accuracy, limiting their clinical application and requiring high manufacturing costs due to stringent requirements and potential interference during operations.

Innovation Solution

A surgical robotic arm design featuring a telecentric manipulating assembly with a static platform, movable platform, and telescopic elements, allowing coordinated extension and retraction to maintain a telecentric fixed point, reducing cumulative errors and enhancing control accuracy while supporting larger loads.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Manufacturing precision

If traditional surgical robotic arm structures are used, then the device complexity is reduced, but the load capacity and execution accuracy deteriorate

Engineering Contradiction:

Improveexecution accuracyVSAvoidstructure complexity

Core Design Contradiction:

Manufacturing precisionVSDevice complexity

Solution Approach 1:

The robotic arm is divided into multiple independent modules: presurgical positioning assembly, telecentric manipulating assembly, and executing assembly. Each module performs a specific function independently, allowing for precise control of the surgical instrument while maintaining manageable system complexity through functional segmentation.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The telecentric manipulating assembly employs dynamically adjustable telescopic elements that can extend and retract coordinated to maintain the telecentric fixed point. This dynamic adjustment capability enables the system to adapt to different surgical scenarios while preserving execution accuracy and load capacity.

Inventive Principle:

Principle #15Dynamics

2Manufacturing precision

If high manufacturing precision is pursued to improve execution accuracy, then the execution accuracy improves, but the manufacturing cost increases

Engineering Contradiction:

Improveexecution accuracyVSAvoidmanufacturing cost

Core Design Contradiction:

Manufacturing precisionVSEase of manufacture

Solution Approach 1:

The system achieves high execution accuracy by changing the control parameters through coordinated extension and retraction of telescopic elements, rather than relying solely on high-precision manufacturing of individual components. This parameter-based control approach reduces manufacturing costs while maintaining accuracy.

Inventive Principle:

Principle #35Parameter changes

Solution Approach 2:

The telecentric fixed point acts as an intermediary reference that mediates between the movable platform and the surgical instrument. This intermediary enables accurate positioning through coordinate transformation and control algorithms, reducing the need for extremely precise mechanical manufacturing.

Inventive Principle:

Principle #24Intermediary (Mediator)

3Adaptability or versatility

If the surgical instrument needs to reach into tiny wounds, then the minimally invasive capability is improved, but the stability and non-trembling performance deteriorate

Engineering Contradiction:

Improveminimally invasive capabilityVSAvoidstability

Core Design Contradiction:

Adaptability or versatilityVSStability of the object's composition

Solution Approach 1:

The system replaces traditional mechanical transmission mechanisms with a telecentric manipulating assembly that uses coordinated telescopic motion and control algorithms to eliminate tremors. This substitution maintains stability while enabling access through tiny wounds, as the control system can filter out vibrations without requiring complex mechanical damping mechanisms.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

4Device complexity

If the robotic arm structure is simplified, then the device complexity is reduced, but the response time increases

Engineering Contradiction:

Improvestructure complexityVSAvoidresponse time

Core Design Contradiction:

Device complexityVSLoss of time

Solution Approach 1:

The presurgical positioning assembly performs preliminary positioning of the surgical instrument before the main surgical operation begins. This preliminary action pre-establishes the correct spatial configuration and telecentric fixed point, so that during the actual surgery, only minor adjustments are needed, significantly reducing response time while keeping the overall structure manageable.

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentUS12558172B2Surgical robotic arm and surgical robot

Publication Date: 2026.02.24 NOAHTRON INTELLIGENCE MEDTECH HANGZHOU CO LTD

AI summary

A surgical robotic arm includes a presurgical positioning assembly, a telecentric manipulating assembly and an executing assembly; the telecentric manipulating assembly includes a static platform, a first movable platform and a plurality of first telescopic elements disposed between the static platform and the first movable platform; the executing assembly has a preset telecentric fixed point; the plurality of first telescopic elements are capable of moving the first movable platform; a swing center of the executing assembly is the telecentric fixed point.