Variable Damping Platform for Minimally Invasive Surgical Robotics
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current minimally invasive robotic surgical systems face challenges in efficiency, ease of use, maneuverability, space utilization in the operating room, setup complexity, and mechanical complexity, with a need for improved vibration damping to prevent collisions and enhance precision.
Innovation Solution
A damped surgical system incorporating a base, surgical tool, and linkage with a series of arms and joints, featuring a damper with a variable damping element controlled by a processor based on sensor feedback to adjust damping properties, including a 3 DOF damping platform with a spring element and radially positioned variable dampers, to mitigate vibrations and uncommanded movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If traditional robotic surgical systems are used, then surgical procedures can be performed minimally invasively, but vibrations and uncommanded movements reduce precision and control
Solution Approach 1:
The patent implements variable damping elements that dynamically adjust damping characteristics based on real-time sensor feedback about system vibrations and movements. This allows the damping properties to change adaptively during different phases of surgical manipulation, providing optimal vibration suppression while maintaining maneuverability when needed.
Solution Approach 2:
The system incorporates sensors that continuously monitor vibrations and uncommanded movements in the robotic linkage, feeding this information back to a controller that adjusts the variable damping elements accordingly. This closed-loop feedback mechanism enables real-time compensation for harmful vibrations while preserving surgical precision.
2Manufacturing precision
If complex damping mechanisms are added to reduce vibrations, then surgical precision improves, but device complexity increases
Solution Approach 1:
The patent integrates the damping elements directly into the existing robotic linkage structure, combining vibration suppression functionality with the mechanical support structure. This merging approach eliminates the need for separate, complex damping systems while achieving effective vibration reduction.
Solution Approach 2:
The variable damping elements serve multiple functions: they provide structural support for the linkage, enable vibration suppression, and allow dynamic adjustment of mechanical properties. This multi-functionality reduces the need for additional specialized components, thereby limiting the increase in device complexity.
3Object-affected harmful factors
If variable damping elements with sensor feedback are implemented, then vibration control improves, but control system complexity increases
Solution Approach 1:
The system changes physical parameters (damping coefficients) of the mechanical system based on sensor feedback, rather than adding complex active control mechanisms. This approach to vibration control through parameter modulation achieves effective suppression while keeping the control system relatively simple compared to full active vibration cancellation systems.
4Stability of the object's composition
If rigid linkage structures are used, then structural stability improves, but maneuverability and ease of operation decrease
Solution Approach 1:
The patent employs variable damping elements that can dynamically adjust their mechanical properties during operation. When high stability is needed, the damping elements provide rigid support; when maneuverability is needed, they allow greater compliance. This dynamic adjustment resolves the contradiction between structural stability and ease of operation.
Solution Approach 2:
By changing the damping parameters in real-time based on operational requirements, the system transitions between rigid and compliant mechanical behavior. This parameter modulation allows the linkage to exhibit appropriate mechanical characteristics for different surgical tasks, balancing stability and maneuverability.
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
The system enhances the precision and efficiency of robotic surgical systems by reducing vibrations and mechanical complexity, improving maneuverability, and simplifying setup, while maintaining precise control over surgical tools, thus addressing the limitations of existing systems.
Implementation Method 1
The damping platform can include a shaft extending from the bottom plate and connected to the top plate via a ball pivot. A plurality of dampers can be radially positioned around the shaft.
Implementation Method 2
A damped surgical system incorporating a base, surgical tool, and linkage with a series of arms and joints, featuring a damper with a variable damping element
Implementation Method 3
A damped surgical system incorporating a base, surgical tool, and linkage with a series of arms and joints, featuring a damper with a variable damping element controlled by a processor based on sensor feedback
Implementation Method 4
The system enhances the precision and efficiency of robotic surgical systems by reducing vibrations and mechanical complexity
Data Source
AI summary
Techniques for active and semi-active damping include a system including a processor and a linkage having a first link, a second link, and a damper coupling the second link to the first link. The processor is configured to receive a movement command for moving the linkage; determine one or more first vibrations expected to occur in the linkage as a result of performing the movement command; determine a movement profile for moving the linkage to reduce the one or more first vibrations; and drive, using a drive component, the linkage to move according to the movement profile.