Surgical Haptic Handle Linkage for 6DOF Orientation Feedback
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Solution Overview
Problem
Existing haptic user interfaces for surgical systems lack the capability to provide orientation haptics and are cumbersome due to the use of heavy gimbal mechanisms, leading to increased power consumption, mechanical disadvantage, and complex cabling, which limits their ability to effectively control 6DOF surgical devices.
Innovation Solution
A powered 6DOF haptic user interface that eliminates the need for a powered gimbal mechanism, reducing cantilevered weight and simplifying cabling, while using smaller motors and reducing power consumption, and provides orientation haptic feedback through a linkage system with six electric motors and sensors that reconstruct handle position and orientation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a heavy gimbal mechanism is used to provide haptic feedback, then haptic feedback capability is improved, but device weight and mechanical complexity increase
Solution Approach 1:
The patent extracts and removes the heavy powered gimbal mechanism from the user interface system, replacing it with a lighter alternative that uses electric motors and sensors mounted directly to the handle to provide haptic feedback, thereby maintaining haptic capability while significantly reducing weight
Solution Approach 2:
The patent replaces the mechanical gimbal mechanism with an electrical control system using electric motors and sensors that directly actuate the handle, substituting complex mechanical linkages with simpler electromechanical components that achieve the same haptic feedback function with reduced weight
2Reliability
If a powered gimbal mechanism is used, then haptic feedback is provided, but power consumption increases
Solution Approach 1:
The patent removes the power-intensive powered gimbal mechanism and replaces it with a more energy-efficient system using smaller electric motors and sensors that consume less power to provide the same haptic feedback capability
Solution Approach 2:
The patent substitutes the high-power mechanical gimbal system with a low-power electromechanical system using efficient electric motors and electronic sensors, dramatically reducing overall power consumption while maintaining haptic feedback functionality
3Reliability
If a powered gimbal mechanism is used, then haptic feedback is provided, but device complexity and cabling complexity increase
Solution Approach 1:
The patent extracts and eliminates the complex powered gimbal mechanism, replacing it with a simplified system using direct-mounted motors and sensors on the handle, thereby maintaining haptic feedback while significantly reducing mechanical complexity and cabling requirements
Solution Approach 2:
The patent replaces the complex mechanical gimbal system with a simpler electromechanical architecture using electric motors and electronic sensors, substituting complex mechanical linkages, bearings, and cabling with more manageable electrical connections and control electronics
4Ease of operation
If laparoscopic motion simulation is implemented, then ease of operation for laparoscopic surgeons is improved, but capability to control 6DOF instruments is limited
Solution Approach 1:
The patent designs a universal user interface handle that can operate in multiple modes - providing laparoscopic motion simulation when needed while also supporting full 6DOF control capability, allowing the same device to serve both familiar laparoscopic workflows and advanced articulating instrument control
Solution Approach 2:
The patent implements a dynamic user interface that can adapt its degree of freedom constraints in real-time, allowing the handle to switch between constrained 4DOF laparoscopic motion modes and unconstrained 6DOF modes depending on the surgical instrument being used and the surgeon's preferences, providing both familiarity and versatility
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
Enables efficient control of 6DOF surgical devices with reduced power consumption and mechanical complexity, providing effective haptic feedback and allowing for operation in both 6DOF and 4DOF modes, including laparoscopic and true Cartesian motion.
Implementation Method 1
The linkage system includes six electric motors
Implementation Method 2
sensors that reconstruct handle position and orientation
Data Source
AI summary
A powered user interface for a robotic surgical system includes a base, a handle mounted to the base and moveable relative to the base in at least six degrees of freedom, and actuators. The interface operates in accordance with a first mode of operation in which the actuators are operated to constrain predetermined ones of the joints to permit motion of the handle in only 4DOF with respect to the base, and a second mode of operation in which the actuators permit motion of the handle in at least 6DOF with respect to the base.