Finger-Mounted Haptic Interface for Surgical Robots
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Solution Overview
Problem
Current surgical robotic systems lack effective haptic feedback mechanisms that allow surgeons to intuitively understand and control the forces applied during minimally invasive surgeries, limiting their precision and control.
Innovation Solution
A haptic user interface worn on the hand, utilizing acceleration and angular velocity sensors, input switches, and inflatable bladders to provide tactile feedback, allowing surgeons to feel resistance and forces applied by surgical instruments, enhancing control and precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If traditional handle interfaces are used for robotic surgical control, then the system structure is simple, but the surgeon cannot perceive forces applied by surgical instruments during minimally invasive surgery
Solution Approach 1:
The patent implements haptic feedback by using inflatable bladders on the handle that can be inflated to apply forces to the surgeon's hand, allowing the surgeon to perceive forces applied by surgical instruments during minimally invasive surgery. This feedback mechanism resolves the contradiction by providing lost force information while adding controlled complexity to the system.
Solution Approach 2:
The patent uses pneumatic inflatable bladders as the haptic actuation mechanism. These bladders can be inflated with gas to generate forces that are transmitted to the surgeon's hand through the handle interface, enabling force perception without requiring complex mechanical actuation systems.
2Reliability
If haptic feedback is added to traditional handles, then force perception is improved, but the interface becomes less intuitive and more complex to operate
Solution Approach 1:
The patent merges the haptic feedback function with the existing handle interface by integrating inflatable bladders directly into the handle structure. This combination allows force perception to be added without requiring a separate, complex feedback device, thereby maintaining interface intuitiveness while improving force perception accuracy.
Solution Approach 2:
The patent changes the physical state of the bladder from deflated to inflated to control haptic feedback. By adjusting the inflation pressure and volume of the bladders, the system can provide variable force feedback while maintaining a simple control mechanism that does not significantly complicate the interface operation.
3Measurement precision
If multiple inflatable bladders are positioned on the user's fingers, then haptic feedback precision is improved, but the device complexity and manufacturing difficulty increase
Solution Approach 1:
The patent divides the haptic feedback function into multiple independent inflatable bladders positioned at different locations on the user's fingers. Each bladder can be independently controlled to provide precise force feedback at specific contact points, improving haptic feedback precision while allowing modular manufacturing and assembly.
Solution Approach 2:
The patent uses the user's hand and fingers as an intermediary structure to position and support the inflatable bladders. This approach simplifies the overall device structure by utilizing the human body's existing anatomy for both input and haptic feedback delivery, reducing manufacturing complexity compared to rigid mechanical positioning systems.
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 haptic interface enhances surgical precision and control by providing accurate haptic feedback, allowing surgeons to better manage surgical instruments in multiple degrees of freedom, improving the overall performance of robot-assisted surgical systems.
Implementation Method 1
communicates haptic feedback to the user using inflatable bladders positioned on the user s fingers
Data Source
AI summary
In a method of using a haptic interface for a robot-assisted surgical system, input is received in response to movement of fingers of a human hand. In response to the input, a surgical instrument on a robotic manipulator is moved or actuated. Force input is received from force sensors of the surgical system corresponding to forces against the surgical instrument. In response to the force input, fluid is caused to move into one or more bladders mounted to fingers of the human hand to provide tactile feedback to the user.