Haptic Input Drift Detection for Robotic Surgery Control

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Solution Overview

Problem

Existing robotic surgical systems face challenges in accurately detecting and preventing false positive haptic inputs, which can lead to unintended movements of surgical tools, and there is a need for improved input devices that enhance user presence detection and control.

Innovation Solution

The development of an input device with radially symmetric links, clutch buttons, and sensors for precise control of robotic surgical tools, incorporating features like multi-link graspers and finger inputs that operate in different modes, and a physician console with enhanced user presence detection using electrodes and processors for safe operation.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If traditional haptic input devices are used in robotic surgical systems, then basic control functionality is provided, but false positive haptic inputs occur leading to unintended movements

Engineering Contradiction:

Improveaccuracy of haptic input detectionVSAvoidfalse positive haptic inputs causing unintended movements

Core Design Contradiction:

ReliabilityVSObject-affected harmful factors

Solution Approach 1:

The input device is segmented into multiple independent links (first pair and second pair of opposing links) that can be controlled independently. Each link has its own sensor for detecting user input, allowing the system to distinguish between intentional control signals and false positive inputs by analyzing the pattern and consistency of signals across multiple segmented components.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The system implements feedback mechanisms where sensors on each link detect user input and provide information to the control system. The control system processes this feedback to determine whether an input is intentional or a false positive, and adjusts the robotic surgical tool's movement accordingly, preventing unintended movements while maintaining responsive control.

Inventive Principle:

Principle #23Feedback

2Reliability

If multiple sensors and detection mechanisms are added to prevent false positives, then reliability improves, but device complexity increases

Engineering Contradiction:

Improveuser presence detection accuracyVSAvoidinput device structure with multiple links and sensors

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

Each link in the input device serves multiple functions: it acts as both a control element for user input and as a sensor mounting structure. The opposing links work together to provide both mechanical support and detection capabilities, reducing the need for separate dedicated sensor components and simplifying the overall device architecture while maintaining high reliability.

Inventive Principle:

Principle #6Universality (Multi-functionality)

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 input device provides precise control and safe operation of robotic surgical tools by accurately detecting user presence and preventing unintended movements, enhancing the safety and efficacy of robotic surgical procedures.

Implementation Method 1

The central longitudinal member can include a hall effect sensor

Methodology Applied

Scientific EffectHall effect: Hall Effect

Data Source

PatentUS12484983B2Drift detection of a haptic input device in a robotic surgical system

Publication Date: 2025.12.02 AURIS HEALTH INC

AI summary

An input device for controlling operation of a robotic arm may include a grasper that includes a first finger pad. The first finger pad may include a first set of two or more electrodes for determining user presence at the first finger pad. The input device may also include a processor for modifying operation of the robotic arm in response to information from the input device in accordance with a determination of the user presence at the first finger pad. A method for operating a surgical tool via the input device is also disclosed herein.