Cutaneous Haptic Feedback System for Surgical Robotics
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Solution Overview
Problem
Current medical and robotic systems lack effective haptic feedback, leading to tissue damage during surgeries and diagnostics due to the inability to provide precise force feedback to surgeons, limiting their dexterity and understanding of the forces applied during teleoperated tasks.
Innovation Solution
A cutaneous feedback system that uses an actuator, such as a pusher, embedded in a button of a stylus, to exert force relative to the force exerted by robotic grippers, providing proportional and dynamic feedback through a cam rotation system, allowing for flexible positioning and improved dexterity in haptic technology devices.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If traditional haptic feedback systems (vibrating actuators, pin-type devices) are used, then the system structure is relatively simple, but they fail to provide adequate directional information and dynamic feedback regarding force changes
Solution Approach 1:
The feedback system is segmented into multiple independent actuators arranged in a matrix array, where each actuator can be independently controlled to provide force feedback in different directions. This segmentation allows the system to convey directional information and dynamic force changes by selectively activating specific actuators, resolving the contradiction between information completeness and system complexity.
Solution Approach 2:
The invention transitions from traditional single-direction or binary feedback to multi-dimensional force feedback by arranging actuators in a spatial matrix. This dimensional expansion enables the system to provide feedback in multiple directions simultaneously, delivering comprehensive directional information and dynamic force feedback while maintaining manageable system architecture through modular actuator design.
2Reliability
If no haptic feedback is provided in robotic surgery, then the system is simpler to operate, but surgeons have reduced understanding of force being imparted onto objects, leading to tissue damage
Solution Approach 1:
The system implements real-time haptic feedback by measuring forces applied during surgical tasks and translating them into proportional force responses through the actuator matrix. This feedback loop provides surgeons with accurate tactile information about tissue forces, enabling precise force control to prevent tissue damage while maintaining intuitive and manageable system operation through natural hand-held controller interaction.
3Ease of manufacture
If vibrating actuators are used for cutaneous feedback, then the system is easier to manufacture, but they can only display frequency and lack the ability to convey relative and dynamic changes in device operation
Solution Approach 1:
The system employs dynamically controllable actuators that can adjust their output characteristics in real-time based on surgical task requirements. Each actuator in the matrix can independently vary its force magnitude and activation state, enabling the system to convey dynamic force changes and directional information through spatially-resolved temporal patterns, while maintaining ease of manufacture through standardized actuator modules.
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 user's sense of feel and dexterity by providing accurate and customizable force feedback, reducing tissue damage and improving performance in surgical and robotic tasks by allowing users to better perceive the forces applied during operations.
Implementation Method 1
The actuator may be positioned inside an aperture in a button of a stylus. The actuator may exert a force on a user's fingertip through a cam rotation system that is proportional to a force or torque exerted by a pair of robotic grippers.
Data Source
AI summary
Systems and methods may utilize cutaneous feedback for enhanced control of various types of manipulandum. Embodiments of the present invention may include a haptic feedback system comprising: an actuator that exerts force to a user when engaging the actuator that provides cutaneous feedback to the user when using the system. The systems and methods may allow for adjustable and customizable operation of the system to improve the relationship between human and mechanical or virtual devices.