C03980: Adjustable Remote Center of Motion Robotic ModuleNovelty:
A new surgical robot apparatus for accurate placements of needles and tools.
Value Proposition:
The rise of laparoscopic, percutaneous, and robot-assisted procedures has given way to many designs for surgical tools. Many consist of long shafts to access the desired tissue and are typically operated by pivoting at or near the insertion site. This pivot point, known as the Remote Center of Motion (RCM) typically needs to be maintained throughout the procedure, so as to prevent damaging other parts of the body. Though many design approaches exist for robotic surgical arms, they commonly all contain kinematic singularities, where rotational axes become redundant and can significantly impair placement of the surgical tool. This technology provides a singularity-free device for maintaining a RCM throughout a surgical procedure. Other advantages include:
• The RCM is adjustable down to the end-effector
• Uniform mechanical properties at different orientations
• Accurate placement achieved without imaging
Technical Details:
Johns Hopkins researchers have developed a robotic module that can be used to orient a surgical tool about two axes intersecting at a fixed geometric point. The position of the pivot is adjustable along one axis by modifying the relative angle between the axes. As such, the two rotations are not necessarily orthogonal. Unlike all previous RCM mechanisms, which all possess kinematic singularity points, this new mechanism provides unrestricted rotation about both axes with no singularities. This is achieved by using a unique double belt-drive.
Looking for Partners:
To develop and commercialize the technology as a new robot arm design for use in the Surgical Robot Market.
Stage of Development:
Prototype
Data Availability:
Under CDA / NDA
Publications/Associated Cases:
Journal of Endourology. September 2002, 16(7): 471-475.
