Haptic Feedback Adjustment in Surgical Robots
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Solution Overview
Problem
Existing robotic surgical systems lack the ability to provide accurate and real-time feedback to surgeons, particularly in situations where patient conditions have changed since the pre-surgical plan was created, potentially leading to inaccurate surgical procedures and adverse patient outcomes.
Innovation Solution
The system automatically detects deviations in patient conditions during surgery by comparing pre-surgical images with intra-operative images, and adjusts the haptic feedback provided to the surgeon through a robotic hand controller, ensuring that the surgical tool operates within safe boundaries.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If real-time haptic feedback is provided to the surgeon during surgery, then surgical precision and safety are improved, but the device complexity increases
Solution Approach 1:
The system implements real-time haptic feedback by comparing pre-surgical images with intra-operative images, detecting deviations in patient conditions, and providing tactile feedback through the robotic hand controller to guide the surgeon back to the planned surgical path, thereby improving surgical precision
Solution Approach 2:
The patent introduces an image comparison system and confidence level calculation mechanism as intermediaries between the surgical robot and the surgeon. The system processes images, calculates confidence levels, and translates this information into haptic feedback signals, mediating the complex information processing while maintaining simplicity in the surgeon's interaction
2Reliability
If the system automatically detects deviations by comparing images in real-time, then reliability of surgical guidance is improved, but the use of energy increases
Solution Approach 1:
The system performs image comparison and confidence level calculation at periodic intervals during the surgical procedure rather than continuously, detecting deviations at key moments while conserving energy. The haptic feedback is provided periodically when confidence levels fall below thresholds, maintaining reliability while reducing energy consumption
3Adaptability or versatility
If haptic feedback is adjusted dynamically based on confidence level, then adaptability to changing patient conditions is improved, but the device complexity increases
Solution Approach 1:
The system dynamically adjusts haptic feedback characteristics based on calculated confidence levels. When confidence is high, normal haptic feedback is provided; when confidence decreases due to detected deviations in patient conditions, the system modifies feedback intensity and frequency to guide the surgeon, enabling adaptability through dynamic parameter adjustment
Solution Approach 2:
The patent changes haptic feedback parameters (intensity, frequency, type) based on confidence level thresholds. The system monitors confidence level changes and adjusts feedback parameters accordingly, allowing the robotic surgical system to adapt to changing patient conditions by modifying operational parameters rather than adding complex hardware
Data Source
AI summary
Haptic feedback from a robotic surgical tool can be adjusted based on intra-operative assessment of the accuracy of a pre-operative surgical navigational plans. Navigational reference points are identified in at least one pre-operative image. At least one haptic response is identified for interactions between at least one robotic surgical tool and at least one navigational reference point. At least one intra-operative image is compared to the pre-operative image to determine the relative position of at least two corresponding navigational reference points in the images. The reference points' relative position determines a confidence level in the accuracy of the pre-operative navigational reference point. The haptic response is adjusted in timing, location, type, or amplitude based upon the confidence level. Tolerances and surgical navigation plan may also be updated and altered based on the confidence level.