Ergonomic Hand Controller for Robotic Surgery
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Solution Overview
Problem
Robotic surgery systems face challenges in accurately and efficiently translating operator inputs into precise movements of surgical tools within a body cavity, particularly in detecting lateral movements and controlling the opening and closing of surgical tools.
Innovation Solution
A hand controller apparatus with a control lever attached to a pivot joint, featuring a lateral movement detector that magnetically or inductively senses the movement of the lever, allowing for precise control of surgical tools based on detected angles and movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a hand controller apparatus uses a control lever with pivot joint for lateral movement detection, then the measurement precision of lateral movements is improved, but the device complexity increases due to additional detection mechanisms
Solution Approach 1:
The patent replaces complex mechanical detection mechanisms with magnetic and inductive sensing systems. The lateral movement detector uses magnetic fields and inductive coupling to detect the position and movement of the control lever, eliminating the need for intricate mechanical linkages and contact-based sensors, thereby maintaining high measurement precision while reducing mechanical complexity
Solution Approach 2:
The patent introduces magnetic fields and inductive coupling as intermediary mechanisms between the control lever and the detection system. The magnetic detector and inductive sensor act as mediators that translate physical lever movement into detectable signals without requiring direct mechanical contact or complex transmission mechanisms, thus improving precision while simplifying the overall device structure
2Manufacturing precision
If the hand controller apparatus incorporates magnetic and inductive detection mechanisms, then the control precision of surgical tools is improved, but the manufacturing complexity increases
Solution Approach 1:
The patent replaces precision mechanical alignment systems with magnetic and inductive detection components that are more amenable to standard manufacturing processes. These sensing mechanisms can be integrated into the hand controller using conventional PCB mounting and component assembly techniques, reducing the need for specialized precision machining and assembly operations
Solution Approach 2:
The patent utilizes magnetic field strength and inductive coupling parameters as adjustable variables to optimize detection precision without requiring precise mechanical tolerances. By controlling magnetic component placement and electrical parameters rather than mechanical dimensions, the system achieves high control precision while simplifying manufacturing requirements
3Ease of operation
If the control lever is made laterally moveable about a pivot joint, then the ease of operation is improved, but the reliability of movement detection may worsen due to potential detection errors
Solution Approach 1:
The patent introduces magnetic fields and inductive coupling as intermediary detection mechanisms that are insensitive to the mechanical details of lever movement. These fields penetrate through the pivot joint mechanism and directly sense the position and movement of the control lever, providing reliable detection data regardless of mechanical wear, friction, or play in the pivot joint, thus maintaining high reliability while preserving ease of operation
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 precise control of surgical tools, enhancing the accuracy and efficiency of surgical procedures by effectively translating operator inputs into corresponding tool movements, including the opening and closing of jaws.
Implementation Method 1
a lateral movement detector configured to magnetically or inductively detect a lateral movement of the control lever
Implementation Method 2
a lateral movement detector configured to magnetically or inductively detect a lateral movement of the control lever
Data Source
AI summary
A hand controller apparatus for controlling a tool in a robotic surgery system has a body with a proximal end and a distally located interface end that can be coupled to an input apparatus for controlling a surgical tool. The hand controller apparatus includes a control lever attached to a pivot joint proximate a side surface of the body and extending along the body and away from the proximal end, the control lever being laterally moveable relative to the side surface of the body about the pivot joint. The control lever includes a tail region adjacent to the pivot joint and a paddle region connected to the tail region and extending toward the distally located interface end. The tail region includes an inner surface facing the body and an outer surface opposing the inner surface, and at least part of the outer surface of the tail region is outwardly curved.