Telescopic Column Assembly for Precise Robotic Arm Docking
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
The challenge in robotic assisted surgery is precisely adjusting the height of robotic arm assemblies for seamless docking with cannulas without exerting unwanted force or causing patient injury during the docking process.
Innovation Solution
A telescopic column assembly with a housing, dovetail clamp, support member, and mounting member, featuring springs, drums, and a rack and pinion mechanism, allowing controlled and precise vertical movement of the robotic arm for accurate docking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the robotic arm assembly is adjusted laterally and longitudinally during docking, then the docking precision with cannulas is improved, but unwanted forces may be exerted on the patient body
Solution Approach 1:
The spring assembly acts as a counterweight mechanism that opposes and balances the forces generated during robotic arm adjustment. The springs are configured to provide a counteracting force that prevents unwanted forces from being transmitted to the patient body while allowing controlled movement for precise docking.
Solution Approach 2:
The brake mechanism is engaged before adjustment to control the initial position, and the spring assembly is pre-configured to cushion forces during movement. This beforehand preparation ensures that forces are controlled and cushioned before they can harm the patient during the docking process.
2Manufacturing precision
If the height of the robotic arm assembly is adjusted during docking, then the seamless docking with cannulas is achieved, but unintended motion may occur which may injure the patient
Solution Approach 1:
The system transitions between static and dynamic states through controlled engagement and disengagement of the brake mechanism. During height adjustment, the brake is disengaged to allow dynamic movement; once positioning is complete, the brake re-engages to lock the position, preventing unintended motion while enabling precise docking when needed.
Solution Approach 2:
The position sensor provides continuous feedback on the height position of the robotic arm assembly. This feedback allows the control system to monitor the adjustment process, detect when the desired position is reached, and trigger the brake mechanism to lock the position, preventing over-adjustment or unintended motion that could injure the patient.
3Manufacturing precision
If a telescopic column assembly with multiple components is used for height adjustment, then the controlled and precise height adjustment is achieved, but the device complexity increases
Solution Approach 1:
Multiple functional components are merged into a single integrated telescopic column assembly. The support member, spring assembly, brake mechanism, rack and pinion, position sensor, and dovetail clamp are combined in one compact unit that provides both height adjustment and positioning control functions, reducing the need for separate systems while maintaining precision.
Solution Approach 2:
The telescopic column assembly serves multiple functions simultaneously: it provides height adjustment through the rack and pinion mechanism, controls movement through the brake, cushions forces through springs, monitors position through the sensor, and secures positioning through the dovetail clamp. This multi-functionality reduces overall system complexity by eliminating the need for separate components for each function.
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
Enables precise and controlled adjustment of robotic arm height for seamless docking with cannulas, ensuring no unintended motion or force is applied to the patient, enhancing surgical precision and safety.
Implementation Method 1
a plurality of spring (401), (403), (405), (407)... the plurality of springs (401), (403), (405) and (407) is configured to wrapped around the plurality of drum (417), (419), (421), (423) to facilitate movement of the telescopic column assembly (213) in upward and downward direction
Implementation Method 2
a rack (453) and a pinion (451), wherein the pinion (451) is operationally secured to one end of the motor (449) and the rack (453) is secured to a vertical profile (443b)
Implementation Method 3
a brake (329), wherein the brake (329) is secured to a brake shaft (331)
Data Source
AI summary
A telescopic column assembly (213) for docking of a robotic arm at variable height in a robotic assisted surgery is disclosed herein. The telescopic column assembly (213) may include a plurality of spring assemblies (321), a rack and pinion assembly (323), a position sensor (325), and a motor (449). The plurality of spring assemblies (321) may be a constant spring such as (401), (403), (405), (407). The plurality of spring (401), (403), (405), (407) are wrapped to a plurality of drums (417), (419), (421), (423) and other ends of the plurality of springs (401), (403), (405), (407) are secured to a horizontal profile (433a) of the support member (433). The support member (433) is configured to move in vertical directions which is facilitated by the spring assemblies (321), the rack and pinion assembly (323) and the motor (449), to variably adjust the height of the surgical instruments while docking.