Handheld Master Input Tool for Robotic Surgery
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Solution Overview
Problem
Existing robotic surgery systems face challenges such as limited natural freedom of motion for surgeons, discomfort due to fixed operation locations, high manufacturing costs, and the need for additional training to use unfamiliar master tools.
Innovation Solution
A portable, hand-held master input tool with a convex manipulandum surface that allows natural hand movement, including rolling around the tool's longitudinal axis, and a grip command detector device that decouples the orientation of the master and slave tools, enabling precise control without mechanical constraints.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a non-portable, robot-hung master control station with mechanically constrained appendix is used, then the slave surgical end-effector can be controlled, but the surgeon's natural freedom of motion is strongly limited and the surgeon must operate from a predefined location
Solution Approach 1:
The patent replaces the mechanical constraint system with a magnetic field-based detection system. The master tool body is no longer mechanically constrained to the control station but is tracked via magnetic field sensors that detect the position and orientation of magnets embedded in the master tool, allowing free movement while maintaining control precision
Solution Approach 2:
The patent introduces a magnetic field as an intermediary between the master tool and the control station. Magnets embedded in the master tool body interact with magnetic field sensors on the control station, enabling wireless, constraint-free tracking of the tool's position and orientation
2Reliability
If a non-portable, robot-hung master control station is used, then the slave surgical end-effector can be controlled, but the volumetric encumber within the operating room is enormous
Solution Approach 1:
The patent divides the master control system into separate functional components: the control station housing the magnetic field sensors and processing units, and the portable master tool body with embedded magnets. This segmentation allows the control functionality to be distributed, reducing the footprint of any single component while maintaining system stability
Solution Approach 2:
The patent replaces the large mechanical appendix structure with a compact magnetic field-based tracking system. The master tool body is a small, portable device that communicates wirelessly with the control station, eliminating the need for large mechanical structures while maintaining control stability through magnetic field detection
3Reliability
If a master tool with mechanical parts and components assembled together is used, then the slave surgical end-effector can be controlled, but the manufacturing time and costs are high
Solution Approach 1:
The patent replaces complex mechanical assemblies with simple magnetic field-based components. The master tool body contains only magnets and minimal structural elements, while the control station uses magnetic field sensors and software algorithms to achieve precise control, dramatically simplifying manufacturing
Solution Approach 2:
The patent creates a virtual model of the master tool's position and orientation through magnetic field detection rather than using a physical mechanical copy. The magnetic field sensors detect the position of magnets in the master tool and translate this into control signals, eliminating the need for complex mechanical linkages
4Reliability
If a master tool that is mechanically constrained to the master control station is used, then the slave surgical end-effector can be controlled, but additional training is required for surgeons to properly use the unfamiliar master tool
Solution Approach 1:
The patent designs the master tool body to have homogeneous, familiar characteristics with traditional surgical tools. The tool body is a simple, handheld device with intuitive controls that match the natural hand movements surgeons are already trained to use, eliminating the need for additional training while maintaining control precision
Data Source
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AI summary
Master controller assembly (202) for a robotic surgery system further comprising at least one slave robot assembly (203) comprising a slave surgical grip device (217) able to provide a grip degree- of-freedom of motion lying in a predefined slave grip plane (218), and a control unit (205); wherein said master controller assembly (202) comprises at least a portable hand-held master input tool (206), said master controller assembly (202) is operatively connected to said slave robot assembly (203); said master input tool (206) comprises a master tool body (209); said master tool body (209) comprises a at least one manipulandum surface (210), designed to be hand-held by the surgeon's fingers (211, 212), said master input tool (206) is mechanically unconstrained from said slave robot assembly (203), said at least one manipulandum surface (210) is a convex surface, said master input tool (206) comprises a grip command detector device (213); comprising an operative portion (214) comprises at least one operative surface (215) suitable to face the surgeon's fingers (211, 212); said operative portion (214) being operable by said manual command, said manual command being a radially directed pressure action (216) exerted at any point of the operative surface (214); said master input tool (206) comprises at least one sensing assembly (222) detecting said radially directed pressure action (216), in such way that said radially directed pressure action (216) exerted at any point of said operative surface (215) determines a paired slave grip motion action (221) of said surgical slave grip device (217), said paired grip motion of said surgical grip device (217) being lying in said predefined slave grip plane (218).