Force Sense Display Device for Medical Robots
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Solution Overview
Problem
Existing methods for presenting force sense in medical robots, such as tactile feedback to surgeons, lack accuracy due to individual differences in perception and fail to provide real-time objective feedback, especially in distinguishing between gripping and dissecting forces.
Innovation Solution
A force sense display device and method that differentiate between gripping and dissecting forces by using distinct display modes, including different colors, display lengths, and shapes, to visually distinguish and quantify these forces on a surgical tool.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If tactile feedback is used to present force sense to the operating doctor, then the doctor can intuitively grasp the force sense, but the same strength may be felt differently depending on the doctor, leading to lack of accuracy
Solution Approach 1:
The patent introduces a display device as an intermediary between the force sense measurement and the doctor's perception. Instead of directly relying on the doctor's tactile sensation, the system uses a display to visually represent force information, eliminating individual differences in tactile perception while maintaining intuitive understanding.
Solution Approach 2:
The patent replaces the mechanical tactile feedback system with a visual display system. By substituting the direct mechanical force perception with visual representation on a display, the system achieves both intuitiveness and objectivity, resolving the contradiction between ease of operation and measurement precision.
2Ease of operation
If force sense is presented only to the operating doctor through tactile feedback, then the doctor receives direct feedback, but it is difficult to perform third-party real-time check and ensure objectivity
Solution Approach 1:
The display device serves multiple functions simultaneously: it provides real-time feedback to the operating doctor, enables third-party verification, and creates an objective record of force application. This multi-functionality resolves the contradiction by making the system both directly useful to the operator and verifiable by others.
Solution Approach 2:
The system implements a visual feedback mechanism that provides real-time information about force application to both the operating doctor and observers. This feedback loop ensures objectivity by making force information publicly visible and verifiable, while maintaining direct utility for the operator.
3Device complexity
If a single display mode is used for all force information, then the display is simple, but it is difficult to distinguish between gripping force and dissecting force
Solution Approach 1:
The patent segments the display into distinct regions or modes for different force types. By dividing the force information display into separate visual representations for gripping force and dissecting force, the system maintains simplicity while preventing information loss, allowing clear distinction between force types.
Solution Approach 2:
The patent applies different display characteristics (such as color, position, or intensity) to different force types locally. This allows the display to remain simple in structure while providing differentiated visual information for gripping versus dissecting forces, resolving the contradiction between simplicity and information preservation.
Data Source
AI summary
A medical robot system includes a memory and central processing unit that performs operations including receiving measurement signals of a gripping force, which is a force to grip an object by a surgical tool, and a dissecting force, which is a force to dissect the object by the surgical tool, generating image information for displaying information on the gripping force as a grip display mode and information on the dissecting force as a dissection display mode different from the grip display mode, based on the measurement signals, and outputting the image information to a display portion of a display that is configured to display the image information.