Capacitive Hover Sensing for Sterile Surgical Robot Repositioning
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Solution Overview
Problem
Surgical robotic system components, such as manipulators and tables, are difficult to move smoothly and safely within an operating arena while maintaining sterility, as manual handling can cause draping issues, injuries, and jagged movements due to varying friction and inertia.
Innovation Solution
A capacitive hover sensing assembly is integrated into the surgical robotic system components, allowing for touch-free control through capacitive pads that detect hand gestures to automatically move the components without direct physical contact, ensuring smooth and continuous motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual handling is used to move surgical robotic components, then the components can be repositioned, but sterility is compromised due to drape tearing and physical contact
Solution Approach 1:
The patent replaces manual mechanical handling with an automated mechanical system. The robotic manipulator uses motors and actuators to move components automatically, eliminating the need for manual contact with the surgical field. This substitution allows repositioning while maintaining sterility, as the automated system can be controlled from outside the sterile boundary.
Solution Approach 2:
The patent introduces an automated control system as an intermediary between the operator and the surgical robotic components. The operator issues commands from a control station, and the automated system executes the movements, acting as a mediator that eliminates direct physical contact between the operator's hands and the sterile surgical field, thereby maintaining sterility while enabling component repositioning.
2Ease of operation
If manual force is applied to move surgical robotic manipulators, then the components can be repositioned, but the movement becomes jagged and discontinuous due to varying friction and inertia
Solution Approach 1:
The patent replaces manual mechanical pushing/pulling with an automated motorized system. The robotic manipulator uses controlled motor torque and velocity commands to achieve smooth, continuous movement. This eliminates the jagged motion caused by manual force application, as the automated system can precisely control acceleration, deceleration, and constant velocity phases of movement.
Solution Approach 2:
The patent implements feedback control where sensors monitor the actual position and movement of the robotic manipulator, and the control system adjusts motor commands in real-time to maintain smooth motion. This closed-loop control compensates for varying friction and inertia, ensuring continuous and smooth movement regardless of the manipulator's configuration or load conditions.
3Ease of operation
If manual handling is used to reconfigure surgical robotic arms, then the components can be deployed, but user safety is compromised due to pinching injuries between links
Solution Approach 1:
The patent replaces manual manipulation of the robotic arm links with automated motorized actuation. The deployment and reconfiguration of the manipulator is performed by motors and actuators rather than human hands, completely eliminating the risk of pinching injuries between links while maintaining the ability to deploy and reposition the surgical robotic system.
4Reliability
If surgical robotic components are covered with drapes to maintain sterility, then sterility is preserved, but manual handling becomes difficult due to reduced grip and increased friction
Solution Approach 1:
The patent replaces manual handling of draped components with an automated robotic system. Since the manipulator itself is the robotic system, it can move its own segments and reposition itself without requiring external manual manipulation. This eliminates the problem of difficult gripping through drapes, as no manual contact with the draped components is needed for repositioning.
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 ergonomic and safe movement of surgical robotic components by allowing operators to control them without physical contact, maintaining sterility and achieving smooth, continuous trajectories.
Implementation Method 1
A capacitive hover sensing assembly is integrated into the surgical robotic system components, allowing for touch-free control through capacitive pads that detect hand gestures
Data Source
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AI summary
A control system for surgical robots based on proximity sensing, the control system including a proximity sensor coupled to a component of a surgical robot, the surgical robot component including a table, robotic arms coupled to the table, and surgical tools mounted on the robotic arms, the proximity sensor configured to sense a movement of a nearby controlling object in one or more degrees of freedom; and a processor configured to drive the component of the surgical robot to follow the movement of the controlling object.