DESC:FIELD OF DISCLOSURE
The present disclosure relates to the technical field of robotic surgery. More particularly, the present disclosure relates to a robotic arm for preserving the remote centre point during surgery.
BACKGROUND
In traditional methods in open surgery, a surgeon relies on the natural stability of their hands and wrists to execute precise manoeuvres. However, replicating this stability in robotic-assisted surgery proves challenging. The absence of a consistent reference point can lead to difficulties in controlling the robotic instruments, especially during delicate and intricate procedures. Surgeons operating through robotic systems encounter issues with maintaining a stable trajectory, potentially impacting the overall success of minimally invasive surgeries.
Furthermore, in conventional open surgery, the lack of a fixed remote center point exacerbates challenges. Surgeons encounter difficulties in adjusting this center point, impacting the system's ability to replicate the surgeon's natural hand stability. This limitation becomes particularly pronounced when lateral forces are applied to the robotic arm. The system struggles to ensure pure lateral translations, leading to undesired rotational effects that hinder precise surgical manoeuvres. Similarly, applying turning forces around the compliance center becomes problematic, as achieving exclusive rotational movement without translational displacement proves challenging.
In view of the above, there is a need to provide a robotic surgery system that solves the problems of the conventional system of surgery.
SUMMARY
This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
In an aspect of the present disclosure, a robotic arm for preserving a remote centre point during surgery is disclosed. The robotic arm includes a driving pulley coupled to a motor. The robotic arm includes a plurality of links including a first link, a second link, a third link, and a fourth link arranged to form a parallelogram mechanism. The robotic arm includes a plurality of pulleys including a first pulley, a second pulley, a third pulley, a fourth pulley, and a fifth pulley operatively connected to the plurality of links. The robotic arm includes a plurality of cross-roller bearings including a first cross-roller bearing, a second cross-roller bearing, and a third cross-roller bearing positioned between the plurality of links. The robotic arm includes a plurality of ball bearings including a first ball bearing, a second ball bearing, and a third ball bearing coupled to the plurality of pulleys. The robotic arm includes a plurality of belts including a first belt, a second belt, and a third belt connecting the plurality of pulleys. The arrangement of the plurality of links, pulleys, cross-roller bearings, ball bearings, and belts maintains the remote centre point during operation of the robotic arm.
In some aspects of the present disclosure, the cross-roller bearings comprise a crisscross arrangement of rollers made from a biocompatible material.
In some aspects of the present disclosure, the biocompatible material is selected from the group consisting of surgical-grade stainless steel, titanium alloy, cobalt chromium alloy, and polyetheretherketone (PEEK).
In some aspects of the present disclosure, the first cross-roller bearing and the motor are secured to the first link.
In some aspects of the present disclosure, the first pulley and the second link are connected to an inner racing of the first cross-roller bearing, allowing rotation around an axis of the first cross-roller bearing.
In some aspects of the present disclosure, the first ball bearing is positioned between the second link and the second pulley, and the second pulley is fixed to the first link.
In some aspects of the present disclosure, the third pulley is connected to an inner casing of the second cross-roller bearing, and an outer casing of the second cross-roller bearing is secured to the second link.
In some aspects of the present disclosure, the third link is attached to a top of the third pulley, and the fourth pulley is connected to the second link.
In some aspects of the present disclosure, the robotic arm further includes a surgical port configured to accommodate surgical instruments.
In some aspects of the present disclosure, the surgical instruments are selected from the group consisting of an endoscopic camera, a scalpel tool, an electrocautery tool, a grasper, forceps, scissors, a needle, and a laser.
The foregoing general description of the illustrative aspects and the following detailed description thereof are merely exemplary aspects of the teachings of this disclosure and are not restrictive.
BRIEF DESCRIPTION OF FIGURES
The following detailed description of the preferred aspects of the present disclosure will be better understood when read in conjunction with the appended drawings. The present disclosure is illustrated by way of example, and not limited by the accompanying figures, in which like references indicate similar elements.
FIG. 1A illustrates a cross-sectional view of the robotic arm, in accordance with an embodiment of the present disclosure; and
FIG. 1B illustrates a perspective view of the robotic arm of FIG. 1A, in accordance with an embodiment of the present disclosure.
DETAILED DESCRIPTION
The following description sets forth exemplary aspects of the present disclosure. It should be recognized, however, that such description is not intended as a limitation on the scope of the present disclosure. Rather, the description also encompasses combinations and modifications to those exemplary aspects described herein.
The present disclosure relates to a robotic arm system designed for use in minimally invasive surgical procedures. This innovative robotic arm is specifically engineered to maintain a fixed remote center point during operation, a crucial feature for ensuring precision and stability in surgical interventions. The system comprises a series of interconnected links, pulleys, and bearings arranged in a unique configuration that allows for complex movements while preserving a stable pivot point.
At its core, the invention utilizes a parallelogram mechanism formed by the arrangement of multiple links. This mechanism is key to maintaining the remote center point, around which the robotic arm can pivot and rotate without shifting the point of insertion into the patient's body. This feature is particularly valuable in laparoscopic and other minimally invasive procedures where maintaining a fixed entry point is critical for patient safety and surgical success.
The robotic arm incorporates a combination of cross-roller bearings and ball bearings, strategically positioned to allow smooth, precise movements while bearing loads from multiple directions. The cross-roller bearings, featuring a unique crisscross arrangement of rollers, provide exceptional stability and load-bearing capacity, crucial for the demanding environment of surgical applications.
A system of pulleys and belts transmits motion throughout the arm, allowing for coordinated movement of all components. This design enables the arm to perform complex maneuvers with high precision, all while maintaining the fixed remote center point. The arm also includes a surgical port, designed to accommodate a variety of surgical instruments, enhancing its versatility in different types of procedures.
Key advantages of the robotic arm include:
1. Enhanced surgical precision due to the maintenance of a fixed remote center point.
2. Reduced trauma to the patient by minimizing movement at the point of insertion.
3. Increased stability and load-bearing capacity, thanks to the use of cross-roller bearings.
4. Versatility in accommodating various surgical instruments through a specially designed port.
5. Smooth and coordinated movements enabled by the pulley and belt system.
This robotic arm represents a significant advancement in surgical robotics, offering surgeons a tool that combines precision, stability, and flexibility. Its design addresses key challenges in minimally invasive surgery, potentially leading to improved patient outcomes and expanded capabilities in complex surgical procedures.
FIG. 1A illustrates a cross-sectional view of a robotic arm (hereinafter interchangeably referred to and designated as "the robotic arm 100"), in accordance with an embodiment of the present disclosure. The robotic arm 100 may be configured to preserve a position of a remote centre point (RCP) 120 during surgery. Specifically, the robotic arm 100 may be configured to maintain a stable pivot point about which the robotic arm 100 may be centred during the surgery. The robotic arm 100 may be configured to preserve the remote centre point 120 during the surgery.
The robotic arm 100 includes a driving pulley 102 coupled to a motor 106. The robotic arm 100 further includes a plurality of links 114 including a first link 114a, a second link 114b, a third link 114c, and a fourth link 114d arranged to form a parallelogram mechanism 122. The robotic arm 100 also includes a plurality of pulleys 104 including a first pulley 104a, a second pulley 104b, a third pulley 104c, a fourth pulley 104d, and a fifth pulley 104e coupled to the plurality of links 114. Additionally, the robotic arm 100 includes a plurality of cross-roller bearings 110 including a first cross-roller bearing 110a, a second cross-roller bearing 110b, and a third cross-roller bearing 110c coupled to the plurality of links 114. The robotic arm 100 further includes a plurality of ball bearings 108 including a first ball bearing 108a, a second ball bearing 108b, and a third ball bearing 108c, coupled to the plurality of pulleys 104 and the plurality of links 114. Furthermore, the robotic arm 100 includes a plurality of belts 112 including a first belt 112a, a second belt 112b, and a third belt 112c, connecting the plurality of pulleys 104 and the driving pulley 102.
In some embodiments of the present disclosure, the cross-roller bearings 110 may feature a unique crisscross arrangement of rollers that may be crafted from high-strength, biocompatible materials that may include a surgical-grade stainless steel, titanium alloy, cobalt chromium alloy, polyetheretherketone (PEEK) and/or other alloys suitable for medical applications. Embodiments of the present disclosure are intended to include and/or otherwise contain all kinds of materials that may be employed in crafting the rollers for bearing, without deviating from the scope of the present disclosure.
The cross-roller bearings 110 may be adapted to provide stability to the robotic arm 100. The cross-roller bearings 110 may further facilitate the robotic arm 100 to bear loads from different directions. The first cross-roller bearing 110a and the motor 106 may be screwed into the first link 114a. The cross-roller bearings 110 feature a unique crisscross arrangement of rollers, where the rollers are positioned at right angles to each other. This configuration allows the bearings to handle complex loads from multiple directions simultaneously, which is crucial for maintaining the stability of the robotic arm 100 during precise surgical maneuvers.
In some aspects of the present disclosure, the first cross roller bearing 108a is coupled to the first link 114a and the first pulley 104a. Specifically, an outer race of the first cross roller bearing 108a is coupled to the first link 114a and an inner race of the first cross roller bearing 108a is coupled the first pulley 104a.Further, the second cross roller bearing 108b is coupled to the second link 114b and the third pulley 104c. Specifically, an outer race of the second cross roller bearing 108b is coupled to the second link 114b and an inner race of the second cross roller bearing 108a is coupled the third pulley 104c. Further, the third cross roller bearing 108c is coupled to the third link 114b and the fifth pulley 104e. Specifically, an outer race of the third cross roller bearing (108c) is coupled to the third link 114b and an inner race of the third cross roller bearing 108a is coupled the fifth pulley 104e.
The first cross-roller bearing (110a) and the motor (106) are secured to the first link (114a). The first pulley 104a and the second link 114b may be connected to the inner race of the first cross-roller bearing 110a. The first pulley 104a and the second link 114b may be configured to rotate around an axis of the first cross-roller bearing 110a. Further, the third pulley 104c and the third link 114c may be configured to rotate around an axis of the second cross-roller bearing 110b. Furthermore, fifth pulley 104e and the fourth link 114d may be configured to rotate around an axis of the third cross-roller bearing 110c.
The first ball bearing 108a may be disposed between one side of the second link 114b and the second pulley 104b. The second ball bearing 108b may be disposed between the other side of the third link 114c and the fourth pulley 104d that may allow the third link 114c to rotate freely. The third ball bearing 108c may be disposed between the one side of the third link 114c and the fifth pulley 104e. The top of the fifth pulley 104e may allow the fourth link 114d to rotate freely. In other words, the first ball bearing 108a is coupled to the second link 114b and the second pulley 104b. Specifically, an outer race of the first ball bearing 108a is coupled to the second link 114b and an inner race of the first ball bearing 108a is coupled to the second pulley 104b. Further, the second ball bearing 108b is coupled to the third pulley 104c and the fourth pulley 104d. Specifically, an outer race of the second ball bearing 108b is coupled to the third pulley 104c and an inner race of the second ball bearing 108b is coupled to the fourth pulley 104d. Furthermore, the third ball bearing 108c is coupled to the fifth pulley 104e and the third link 114c. Specifically, an outer race of the third ball bearing 108c is coupled to the fifth pulley 104e and an inner race of the third ball bearing 108c is coupled to the third link 114c.
In some aspects of the present disclosure, the first pulley 104a, the second pulley 104b, the third pulley 104c, the fourth pulley 104d, and the fifth pulley 104e are coupled to the second link 114b, the first link 114a, the third link 114c, the second link 114b, and the fourth link 114c, respectively. Further, the first belt 112a, the second belt 112b and the third belt 112c are coupled to, the driving pulley 102 and the first pulley 104a, the second pulley 104b and the third pulley 104c, and the fourth pulley 104d and the fifth pulley 104e, respectively. Specifically,
the second pulley 104b may be fixed to the first link 114a, such that the second pulley 104b may remain stable without possessing the rotation. The first belt 112a may be connected to the driving pulley 102 and the first pulley 104a. The driving pulley 102, when rotated, may impart movement to the first belt 112a. The first belt, upon movement, may facilitate rotation of the first pulley 104a and the second link 114a. The third pulley 104c may be connected to an inner casing of the second cross-roller bearing 110b. The second cross-roller bearing 110b may be screwed to the second side of the second link 114b. The third link 114c may be coupled to the top of the third pulley 104c. The fourth pulley 104d may be screwed to the second side of the second link 114b. The second belt 112b may be wrapped around the second pulley 104b to the third pulley 104c. The fifth pulley 110e may connected to an inner casing of the third cross-roller bearing 110c. The third cross-roller bearing 110c may be coupled with the second side of the third link 114c. The fourth link 114d may be coupled to the top of the fifth pulley 104e. The third belt 112c may be connected from the fourth pulley 104d to the fifth pulley 104e. Therefore, when the driving pulley 102 may be adapted to rotate, the second link 114b, the third link 114c, and the fourth link 114d may also perform the rotation.
In operation, upon rotation of the motor 106, the driving pulley 102 rotates the first pulley by way of the first belt 112a such that upon rotation, the first pulley 104a rotates the second link 114b. Further, the second link 114b, upon rotation, rotates the third pulley 104c by way of the second belt 112b such that upon rotation the third pulley 104c rotates the third link 114c. Furthermore, the third link 114c, upon rotation, rotates the fifth pulley 104e by way of the third belt 112c such that upon rotation, the fifth pulley 104e rotates the fifth link 114d.
FIG. 1B illustrates a perspective view of the robotic arm 100 of FIG. 1A, in accordance with an embodiment of the present disclosure. The robotic arm 100 may be configured to incorporate a parallelogram mechanism 122. In other words, the first through fourth links 114 may be configured or arranged such that the first through fourth links 114, when in motion, lead to formation of a parallelogram shape 122. The parallelogram shape 122, that may be formed by virtue of configuration of the first through fourth links 114, may maintain stability for the remote center point 120. Thus, the parallelogram shape 122 may advantageously facilitate precision and reliability in the robotic arm 100. Specifically, the parallelogram shape 122 may advantageously facilitate precise motion of the links 114 and provide stability to the remote center point 120. The parallelogram shape 122 may further facilitate controlled movements of the first through fourth links 114. The parallelogram shape 122 may further facilitate consistent orientation and positioning of the robotic arm 100 while maneuvering. The parallelogram mechanism 122 ensures that as the links 114a-114d move, they maintain a fixed geometric relationship. This configuration allows the robotic arm 100 to pivot around the remote center point 120 while keeping this point stationary in space. As a result, the surgical instruments inserted through the surgical port 118 can be manipulated with high precision without putting undue stress on the patient's body at the point of insertion.
The robotic arm 100 may include a surgical port 118. The surgical port 118 may facilitate the surgeon to fix a surgical instrument into the port 118 of the robotic arm 100 to operate or monitor the patient. The surgical port 118 is designed to accommodate a wide range of surgical instruments, including but not limited to endoscopic cameras, scalpel tools, electrocautery tools, graspers, forceps, scissors, needles, and lasers. The port 118 may include a quick-release mechanism to allow for rapid exchange of instruments during surgery, while maintaining the integrity of the remote center point 120.
In some embodiments of the present disclosure the one or more surgical instruments may include, an endoscopic camera, a scalpel tool, an electrocautery tool, a grasper, a forceps, a scissor, a needle, and a laser. Embodiments of the present disclosure are intended to include and/or otherwise contain all the surgical instruments that may be used in surgery, without deviating from the scope of the present disclosure.
The robotic arm 100 may be configured to movement based on the movement of the pulleys 104. The driving pulley 102 may transmit the rotational movement via the belts 112 to different segments of the robotic arm 100 that may ensure a synchronized and coordinated movement pattern. The ball bearings 108 may prevent undesired rotations, maintaining stability crucial for surgical precision. Additionally, the cross-roller bearings 110 with crisscross arrangement of rollers may enhance the stability and load-bearing capacity that may allow smooth movements in multiple directions.
The driving pulley 102 may be connected to a motor 106. The first pulley 104a, the second pulley 104b, the third pulley 104c, the fourth pulley 104d, and the fifth pulley 104e, along with their corresponding links 114 (i.e. the first link 114a, the second link 114b, and the third link 114c. 150) may generate a synchronized movement pattern. The driving pulley 102 may perform rotation that may facilitate the motion of the interconnected pulleys 104 through the belts 112, that may result in a coordinated rotation of the links 114.
The arrangement of the plurality of links 114, pulleys 104, cross-roller bearings 110, ball bearings 108, and belts 112 maintains the remote centre point 120 during operation of the robotic arm 100.
Thus, the robotic arm 100 provides several significant technical advantages. The parallelogram mechanism formed by the arrangement of links ensures precise maintenance of the remote center point during operation, enhancing surgical accuracy and minimizing tissue trauma. The unique crisscross configuration of the cross-roller bearings allows for superior load-bearing capacity and stability, enabling smooth multi-directional movements crucial for complex surgical maneuvers. The integrated pulley and belt system facilitates synchronized and coordinated movements of all components, resulting in highly precise control of the robotic arm. The surgical port's versatile design accommodates a wide range of surgical instruments, enhancing the arm's adaptability to various surgical procedures. Additionally, the use of biocompatible materials in the cross-roller bearings ensures compatibility with medical applications, reducing the risk of adverse reactions. Finally, the robotic arm's ability to maintain a fixed geometric relationship between its components while pivoting around the remote center point significantly reduces stress on the patient's body at the insertion point, potentially leading to faster recovery times and improved surgical outcomes.
As will be readily apparent to those skilled in the art, the present embodiments may easily be produced in other specific forms without departing from its essential characteristics. The present embodiments are, therefore, to be considered as merely illustrative and not restrictive and all changes which come within therefore intended to be embraced therein.
Certain terms are used throughout the description to refer to particular features or components. As one skilled in the art will appreciate, different persons may refer to the same feature or component by different names. This document does not intend to distinguish between components or features that differ in name but not structure or function. While various embodiments of the present disclosure have been illustrated and described, it will be clear that the present disclosure is not limited to these embodiments only. Numerous modifications, changes, variations, substitutions, and equivalents will be apparent to those skilled in the art, without departing from the spirit and scope of the present disclosure.
Although the preferred aspects have been detailed here, it should be apparent to those skilled in the relevant field that various modifications, additions, and substitutions can be made without departing from the scope of the disclosure. These variations are thus considered to be within the scope of the disclosure as defined in the following claims.
Features or functionalities described in certain example aspects may be combined and re-combined in or with other example aspects. Additionally, different aspects and elements of the disclosed example aspects may be similarly combined and re-combined. Further, some example aspects, individually or collectively, may form components of a larger system where other processes may take precedence or modify their application. Moreover, certain steps may be required before, after, or concurrently with the example aspects disclosed herein. It should be noted that any and all methods and processes disclosed herein can be performed in whole or in part by one or more entities or actors in any manner.
Although terms like "first," "second," etc., are used to describe various elements, components, regions, layers, and sections, these terms should not necessarily be interpreted as limiting. They are used solely to distinguish one element, component, region, layer, or section from another. For example, a "first" element discussed here could be referred to as a "second" element without departing from the teachings of the present disclosure.
The terminology used here is intended to describe specific example aspects and should not be considered as limiting the disclosure. The singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "includes," "comprising," and "including," as used herein, indicate the presence of stated features, steps, elements, or components, but do not exclude the presence or addition of other features, steps, elements, or components.
As used herein, the term "or" is intended to be inclusive, meaning that "X employs A or B" would be satisfied by X employing A, B, or both A and B. Unless specified otherwise or clearly understood from the context, this inclusive meaning applies to the term "or."
Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the relevant art. Terms should be interpreted consistently with their common usage in the context of the relevant art and should not be construed in an idealized or overly formal sense unless expressly defined here.
The terms "about" and "substantially," as used herein, refer to a variation of plus or minus 10% from the nominal value. This variation is always included in any given measure.
In cases where other disclosures are incorporated by reference and there is a conflict with the present disclosure, the present disclosure takes precedence to the extent of the conflict, or to provide a broader disclosure or definition of terms. If two disclosures conflict, the later-dated disclosure will take precedence.
The use of examples or exemplary language (such as "for example") is intended to illustrate aspects of the invention and should not be seen as limiting the scope unless otherwise claimed. No language in the specification should be interpreted as implying that any non-claimed element is essential to the practice of the invention.
While many alterations and modifications of the present invention will likely become apparent to those skilled in the art after reading this description, the specific aspects shown and described by way of illustration are not intended to be limiting in any way.
A number of implementations have been described. Nevertheless, it will be understood that various modifications may be made without departing from the scope of the disclosure. Accordingly, other implementations are within the scope of the following claims. ,CLAIMS:1. A robotic arm (100) for preserving a remote centre point (120) during surgery, comprising:
a driving pulley (102) coupled to a motor (106);
a plurality of links (114) comprising a first link (114a), a second link (114b), a third link (114c), and a fourth link (114d) arranged to form a parallelogram mechanism (122);
a plurality of pulleys (104) comprising a first pulley (104a), a second pulley (104b), a third pulley (104c), a fourth pulley (104d), and a fifth pulley (104e), coupled to the plurality of links (114);
a plurality of cross-roller bearings (110) comprising a first cross-roller bearing (110a), a second cross-roller bearing (110b), and a third cross-roller bearing (110c), coupled to the plurality of links (114);
a plurality of ball bearings (108) comprising a first ball bearing (108a), a second ball bearing (108b), and a third ball bearing (108c), coupled to the plurality of pulleys (104) and the plurality of links (114); and
a plurality of belts (112) comprising a first belt (112a), a second belt (112b), and a third belt (112c), coupled to the plurality of pulleys (104) and the driving pulley (102),
wherein the arrangement of the plurality of links (114), the plurality of pulleys (104), the plurality of cross-roller bearings (110), the plurality of ball bearings (108), and the plurality of belts (112) maintains the remote centre point (120) during operation of the robotic arm (100).

2. The robotic arm (100) as claimed in claim 1, wherein the first cross roller bearing (108a) is coupled to the first link (114a) and the first pulley (104a).
3. The robotic arm (100) as claimed in claim 1, wherein the second cross roller bearing (108b) is coupled to the second link (114b) and the third pulley (104c).

4. The robotic arm (100) as claimed in claim 1, wherein the third cross roller bearing (108c) is coupled to the third link (114b) and the fifth pulley (104e).

5. The robotic arm (100) as claimed in claim 1, wherein the first ball bearing (108a) is coupled to the second link (114b) and the second pulley (104b).

6. The robotic arm (100) as claimed in claim 1, wherein the second ball bearing (108b) is coupled to the third pulley (104c) and the fourth pulley (104d).

7. The robotic arm (100) as claimed in claim 1, wherein the third ball bearing (108c) is coupled to the fifth pulley (104e) and the third link (114c).

8. The robotic arm (100) as claimed in claim 1, wherein the first pulley (104a), the second pulley (104b), the third pulley (104c), the fourth pulley (104d), and the fifth pulley (104e) are coupled to the second link (114b), the first link (114a), the third link (114c), the second link (114b), and the fourth link (114c), respectively.

9. The robotic arm (100) as claimed in claim 1, wherein the first belt (112a), the second belt (112b) and the third belt (112c) are coupled to, the driving pulley (102) and the first pulley (104a), the second pulley (104b) and the third pulley (104c), and the fourth pulley (104d) and the fifth pulley (104e), respectively.

10. The robotic arm (100) as claimed in claim 1, wherein the driving pulley (102) is configured to rotate the first pulley by way of the first belt (112a) such that upon rotation, the first pulley (104a) is configured to rotate the second link (114b).

11. The robotic arm (100) as claimed in claim 9, wherein the second link (114b), upon rotation, is configured to rotate the third pulley (104c) by way of the second belt (112b) such that upon rotation the third pulley (104c) is configured to rotate the third link (114c).

12. The robotic arm (100) as claimed in claim 10, wherein the third link (114c), upon rotation, is configured to rotate the fifth pulley (104e) by way of the third belt (112c) such that upon rotation, the fifth pulley (104e) is configured to rotate the fifth link (114d).