Force Sensor Surgical Robot Control Interface
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Solution Overview
Problem
Current interaction methods between surgeons and surgical robots are not intuitive, user-friendly, and often distract surgeons from the surgical field, leading to inefficiencies and potential errors due to the need for external devices and frequent visual checks.
Innovation Solution
The implementation of a force sensor system integrated into a surgical robotic arm that interprets specific pressure patterns and signals from the surgeon to control robotic functions, allowing for intuitive and hands-free interaction, such as switching control modes or validating workflow steps, without requiring the surgeon to look away from the surgical site.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If external control devices (remote controller, pointer probe, foot pedal) are used to interact with the surgical robot, then the surgeon can control the robot, but the surgeon must take their eyes off the surgical field and check display devices outside the surgical area, reducing focus and increasing distraction
Solution Approach 1:
The patent merges the control interface with the surgical field itself by using the surgical instrument or robotic arm as the control input device. Force sensors embedded in the instrument detect surgeon-applied forces directly at the surgical site, eliminating the need for separate external control devices and display checks, thereby maintaining surgeon focus on the surgical field while enabling robot control
Solution Approach 2:
The patent introduces force sensors as an intermediary mechanism between the surgeon's hand and the control system. These sensors detect subtle forces applied by the surgeon on the instrument and translate them into control commands, providing a direct tactile interface that requires no visual attention to external displays
2Ease of operation
If pointer probes or free hand gestures linked to optical navigation systems are used, then the surgeon can interact with the robot, but field of view issues arise and electromagnetic or sound disturbances occur
Solution Approach 1:
The patent replaces optical navigation systems and electromagnetic tracking with a mechanical force sensing system. Force sensors directly measure physical forces applied by the surgeon on the instrument, substituting complex optical/electromagnetic fields with simple mechanical measurement that is immune to electromagnetic interference and field of view constraints
Solution Approach 2:
The surgical instrument serves dual functions: it performs the surgical task and simultaneously acts as the control input device. The force sensors embedded in the instrument detect surgeon intentions directly through tactile interaction, making the instrument self-sufficient for both surgery and control without requiring separate navigation systems
3Adaptability or versatility
If foot pedal or limited interaction actions are used, then the surgeon can control certain robot functions, but the number of possible interaction actions is limited and the interface is not intuitive or user-friendly
Solution Approach 1:
The patent employs dynamic force threshold adjustment where the system adapts to the surgeon's individual force application patterns. The force sensors detect a range of force magnitudes and directions, and the system dynamically interprets these varied inputs as different control commands, providing versatile interaction capabilities that feel natural and intuitive to the surgeon
Solution Approach 2:
The force-sensitive instrument serves multiple control functions simultaneously. By detecting different force vectors, magnitudes, and durations, the single instrument can trigger various robot actions (movement, tool activation, parameter adjustment), making the interface both versatile and intuitive without requiring multiple specialized controls
Data Source
AI summary
Systems and methods may be used for registering a force input on a portion of a surgical robot, for example using a force sensor of the surgical robot. The force input may correspond to a control command. The control command may generate a change in a control mode of the surgical robot, validate a step of a workflow in planning or navigation software, or the like. A visual indication may be provided, for example using a light of the surgical robot. The visual indication may indicate that the control command has been identified or executed.