Handheld Master Controller for Robotic Surgery
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Solution Overview
Problem
Current robotic surgery systems limit surgeon comfort and require extensive training due to mechanical constraints and low sensing accuracy, leading to potential complications and fatigue during microsurgery.
Innovation Solution
A hand-held master controller assembly with a convex manipulandum surface and sensing assembly that allows natural movement and rotation, providing improved sensing resolution and eliminating mechanical constraints, enabling precise control of slave surgical instruments without the need for fixed positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the master control station uses a mechanically constrained control appendix fixed to the master control station, then the control structure is stable and easy to manufacture, but the surgeon's freedom of motion is limited and surgeon comfort deteriorates
Solution Approach 1:
The patent replaces the mechanically constrained control appendix with a portable hand-held master input tool that is not mechanically constrained to the slave robot assembly. The tool uses a sensing assembly with sensors to detect manual commands instead of mechanical stress detection, eliminating the need for mechanical constraints while maintaining control functionality.
Solution Approach 2:
The patent separates the master input tool from the slave robot assembly, making them independent portable units. The master controller assembly can be moved freely by the surgeon without being mechanically attached to the robot, allowing the surgeon to operate from various locations in the operating arena.
2Ease of manufacture
If the master control station uses a fixed control appendix, then the device complexity is reduced and ease of manufacture is improved, but the adaptability to different surgical locations is limited
Solution Approach 1:
The patent makes the master input tool dynamically movable rather than fixed. The portable design allows the surgeon to relocate the tool freely during surgery, adapting to different surgical locations and patient positions without requiring mechanical reconfiguration or complex mounting mechanisms.
3Ease of operation
If traditional surgical tools are used with direct mechanical connection between handle and tool tip, then the surgeon can feel when the tool tip touches patient anatomy and rolling the handle relaxes hand muscles, but robotic surgery requires master tools that limit these natural gestures
Solution Approach 1:
The patent replaces direct mechanical connection with a sensing assembly that detects manual commands through sensors. This allows the surgeon to perform natural gestures like rolling the handle while the sensors accurately detect intentional commands, eliminating unintended command transmission through mechanical coupling while preserving natural hand movements.
4Adaptability or versatility
If wearable master rings are used to control slave end-effector, then portability is achieved, but extensive training is required to avoid unintended commands and the system complexity increases
Solution Approach 1:
The patent designs the portable hand-held master input tool with a familiar surgical tool appearance and gesture set that surgeons already know from traditional surgery. The tool can be used with natural surgical gestures without requiring extensive training on new control mechanisms, while maintaining portability through the absence of mechanical constraints.
Data Source
AI summary
A master controller assembly for a robotic surgery system has a slave robot assembly, a slave surgical instrument and a control unit. The master controller assembly has a master input tool and a convex manipulandum surface to be hand-held by surgeon's fingers. The master input tool is mechanically unconstrained from the slave robot assembly, naturally movable, rotatable and spinnable by the surgeon. The master input tool includes first and second elongated elements having respectively a first element elongated body and a second element elongated body. A tool joint connects and articulates the first and second element elongated bodies. A sensing assembly detects mutual position of the first and second element elongated bodies, so that a gripping pressure action exerted by the surgeon's fingers on the master input tool moves the first and second element elongated bodies closer and determines a paired grip motion of a surgical grip device.