Haptic Glove for Surgical Robot Grip Force Control
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Solution Overview
Problem
Current surgical robot systems lack effective haptic feedback, making it difficult for operators to precisely control surgical tools and maintain the necessary grip force during minimally invasive surgeries, which can lead to reduced precision and increased surgical complexity.
Innovation Solution
A haptic glove with vibrators and pressure sensors that provide tactile feedback to the operator, allowing real-time control of grip force and vibration intensity, synchronized with the surgical tool's movements and forces, enabling more intuitive and precise control of surgical robots.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional surgical robot systems are used without haptic feedback, then the system structure remains simple, but operator control precision and grip force maintenance deteriorate
Solution Approach 1:
The patent implements haptic feedback by equipping the surgical robot system with force sensors that detect grip force applied to surgical tools, and feed this information back to the operator through haptic actuators in the master control device. This closed-loop feedback mechanism enables the operator to sense and precisely control grip force, directly improving measurement precision of operator intent while maintaining manageable system complexity through modular integration.
Solution Approach 2:
The patent replaces traditional mechanical control linkages with a hybrid system combining electronic sensors, controllers, and haptic actuators. The master control device uses electronic force sensing and digital signal processing to detect and replicate grip forces, substituting pure mechanical transmission with an electromechanical system that provides superior control precision and feedback capability.
2Ease of operation
If haptic feedback is added to surgical robot systems, then operator control precision improves, but device complexity increases
Solution Approach 1:
The haptic feedback system continuously monitors grip force through force sensors and provides real-time tactile feedback to the operator via haptic actuators. This creates an intuitive control experience where the operator can naturally sense and adjust grip force without complex interfaces, improving ease of operation while the modular architecture keeps control system complexity manageable.
Solution Approach 2:
The master control device integrates multiple functions including force sensing, haptic feedback generation, motion scaling, and surgical tool control into a single unified system. This multi-functionality approach consolidates complexity rather than distributing it across separate devices, making the system easier to operate while maintaining controlled complexity through integrated design.
3Manufacturing precision
If real-time haptic feedback is implemented, then surgical precision improves, but energy consumption increases
Solution Approach 1:
The haptic feedback system operates using periodic sampling of grip force data at optimized intervals rather than continuous high-frequency operation. The controller processes force sensor data at sufficient rates to maintain surgical precision while reducing energy consumption compared to continuous maximum-performance operation of haptic actuators.
Solution Approach 2:
The haptic feedback system dynamically adjusts its operation level based on surgical task requirements. The controller modulates haptic actuator output and sampling rates according to the current surgical context, providing high precision when needed while reducing energy consumption during less critical phases of the procedure.
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
Enhances operator control and precision by providing real-time tactile feedback, allowing for more accurate and efficient surgical procedures with reduced operator fatigue and improved surgical outcomes.
Implementation Method 1
at least one pressure sensor at a finger part of a second surface of the haptic glove opposite to the first surface, the at least one pressure sensor configured to sense grip force in the finger part
Implementation Method 2
a plurality of vibrators on a first surface of the haptic glove, the plurality of vibrators configured to apply vibrations
Data Source
AI summary
A haptic glove configured to transmit haptic feedback to an operator of a surgical robot system may include: a plurality of vibrators on a first surface of the haptic glove, the plurality of vibrators configured to apply vibrations; at least one pressure sensor at a finger part of a second surface of the haptic glove opposite to the first surface, the at least one pressure sensor configured to sense grip force in the finger part; at least one sensation applier on the second surface, the at least one sensation applier configured to apply sensations including vibration or force to the finger part; and/or a controller configured to output the grip force sensed by the at least one pressure sensor, and configured to control the vibrations applied by the plurality of vibrators and the sensations applied by the at least one sensation applier.