6DOF Haptic Interface Linkage for Surgical 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, larger motors, and mechanical disadvantages, while also failing to support the full range of degrees of freedom required for advanced surgical instruments.
Innovation Solution
A 6DOF haptic user interface that eliminates the need for a powered gimbal mechanism, reducing cantilevered weight and simplifying cabling, using smaller motors and providing orientation haptic feedback through a linkage system with six electric motors and sensors, allowing for control of surgical devices with six degrees of freedom and operation in both 6DOF and 4DOF modes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a powered gimbal mechanism is used to provide haptic feedback, then haptic feedback capability is achieved, but the system becomes cumbersome with increased weight and complexity
Solution Approach 1:
The patent extracts and eliminates the powered gimbal mechanism from the system, replacing it with a direct-drive linkage system. This removes the complex gimbal structure while preserving the essential haptic feedback function through a simpler mechanical arrangement that uses six electric motors directly coupled to the linkage system.
Solution Approach 2:
The patent replaces the complex mechanical gimbal system with a simplified linkage mechanism. The new system uses a network of linkages connected to six motors that directly provide haptic feedback forces, substituting the traditional gimbal-based mechanical system with a more efficient linkage-based approach.
2Reliability
If a heavy gimbal mechanism is used, then haptic feedback is provided, but power consumption increases
Solution Approach 1:
By removing the heavy gimbal mechanism entirely, the system eliminates the excessive power consumption associated with driving such a complex mechanical structure. The simplified linkage system requires significantly less power to achieve the same haptic feedback effect.
Solution Approach 2:
The patent changes the fundamental mechanical parameters of the system by transitioning from a gimbal-based architecture to a linkage-based architecture. This parameter change fundamentally alters the mass, moment of inertia, and power requirements of the haptic feedback system, resulting in lower energy consumption.
3Reliability
If a powered gimbal mechanism is used, then haptic feedback is achieved, but larger motors are required
Solution Approach 1:
The patent substitutes the gimbal mechanism with a linkage system that provides mechanical advantage through its geometric configuration. This allows the use of smaller motors to generate the same haptic feedback forces, as the linkage system efficiently transmits and amplifies the motor forces to the handle.
Solution Approach 2:
The system segments the haptic feedback function across six independently controlled motors, each responsible for specific degrees of freedom. This segmentation allows each motor to be smaller and more specialized, rather than requiring one large motor to drive the entire gimbal mechanism.
4Reliability
If a gimbal mechanism is used, then haptic feedback is provided, but cabling becomes complex
Solution Approach 1:
By removing the gimbal mechanism, the patent eliminates the complex cabling requirements associated with routing cables through rotating gimbal joints. The linkage system allows for simpler cable routing along the fixed structural members, reducing cabling complexity.
Data Source
AI summary
A powered user interface for a robotic surgical system having a manipulator and a surgical instrument mounted to the manipulator includes a base and a linkage assembly that includes two two-bar linkage mechanisms. The linkage assembly is rotatably mounted to the base at a base joint, and a handle mounted to each of the two-bar linkage mechanisms. Sensors and actuators are arranged to measure and actuate the position and orientation of the user interface.