Haptic Robotic Hand Controller for Force-Feedback Surgery
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Solution Overview
Problem
Current robotic systems for minimal invasive surgery lack a haptic interface in the hand controller, resulting in the absence of force feedback, which complicates surgical precision, increases surgery time, and causes surgeon fatigue due to reliance on visual feedback alone.
Innovation Solution
A robotic hand controller with a haptic interface that provides force feedback through motors and vibrations, allowing control of robotic arms in multiple degrees of freedom, mimicking natural wrist and hand movements to enhance surgical precision and reduce fatigue.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If force feedback mechanisms are integrated into the robotic hand controller, then surgical precision and surgeon control are improved, but device complexity increases
Solution Approach 1:
The patent combines multiple degrees of freedom (6DOF or 8DOF) with force feedback mechanisms into a unified hand controller system. The haptic interface integrates force sensing and actuation across multiple axes, merging position control and force feedback functions into a single coordinated system that provides both precision and tactile information to the surgeon.
Solution Approach 2:
The system implements closed-loop force feedback where sensors detect forces applied by the surgeon on the hand controller, process this information through the control system, and generate corresponding haptic resistance or assistance forces. This feedback loop enables the surgeon to feel tactile information about tissue forces and robotic arm resistance, improving surgical precision through enhanced sensory information.
2Reliability
If force feedback is provided in multiple degrees of freedom, then surgeon awareness of applied pressure is improved, but device complexity increases
Solution Approach 1:
The hand controller is divided into multiple independent degrees of freedom, each equipped with its own force sensing and actuation capabilities. The 6DOF or 8DOF system segments the control into distinct rotational and translational axes, allowing force feedback to be provided independently in each degree of freedom. This segmentation enables comprehensive tactile information without requiring a monolithic complex system.
Solution Approach 2:
The hand controller is designed to provide multiple functions simultaneously: position control, force sensing, and force actuation across multiple degrees of freedom. The same mechanical structure and control system serve both motion control and haptic feedback purposes, making the system multi-functional and reducing the need for separate dedicated components for each function.
3Ease of operation
If the hand controller mimics natural wrist and hand movements, then ease of operation is improved, but device complexity increases
Solution Approach 1:
The hand controller employs dynamic degrees of freedom that mimic the natural ranges of motion of the human wrist and hand. The 6DOF or 8DOF system provides dynamic control across multiple axes, allowing the surgeon to manipulate the robotic arms with movements that replicate natural human anatomy. This dynamic design enhances ease of operation by aligning the control interface with the surgeon's natural motor skills.
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 integration of force feedback mechanisms in the robotic hand controller improves surgical accuracy, reduces errors, and decreases surgeon fatigue by providing a more realistic virtual environment, facilitating safer and more efficient surgeries.
Implementation Method 1
The haptic interface generates force feedback through motors to provide tactile sensation to the surgeon
Implementation Method 2
provides force feedback through motors and vibrations
Data Source
AI summary
A hand controller for enabling a user to perform an activity and method for controlling a robotic arm is provided. The hand controller includes a bar with a grip and a plurality of motors to provide a force feedback to the user in response to the movement of the plurality of mechanical arms. The method involves receiving input corresponding to the manipulation of a bar and providing a force feedback in response to the movement of the plurality of mechanical arms.