Haptic Selector Control for Precise Surgical Click Events
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Solution Overview
Problem
Current teleoperated surgical systems lack precise control mechanisms for hand-actuated selectors, leading to inefficiencies in haptic feedback and cursor motion during surgical procedures, which can result in inaccurate click events and misalignment with target elements, particularly in delicate anatomical features.
Innovation Solution
A method is introduced to control the actuation of a click event by a hand-actuated selector using sensors to detect displacement, with motors imparting maintaining, increasing haptic, and reducing forces based on displacement thresholds, and a system to control cursor motion in a 2D plane relative to a user input device, adjusting movement ratios based on the rate of selector movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If haptic feedback force is increased to improve click event detection accuracy, then measurement precision is improved, but device complexity increases due to multiple control states and threshold mechanisms
Solution Approach 1:
The haptic feedback control system dynamically adjusts the magnitude of haptic force based on the displacement threshold of the hand-actuated selector. The system transitions between multiple control states (first control state for small displacements, second control state for medium displacements, third control state for large displacements) to provide appropriate haptic feedback magnitude, thereby improving click event detection accuracy while managing system complexity through adaptive control
Solution Approach 2:
The system changes the parameter of haptic feedback force magnitude based on displacement threshold parameters. By defining different displacement thresholds (first threshold, second threshold) and corresponding haptic force magnitudes (first magnitude, second magnitude, third magnitude), the system achieves precise click event detection through parameter-based control strategies
2Manufacturing precision
If cursor movement ratio is decreased to improve precision during click events, then manufacturing precision is improved, but productivity decreases due to slower cursor response
Solution Approach 1:
The cursor control system dynamically adjusts the movement ratio between user input device and cursor based on the state of the hand-actuated selector. During normal operation, a higher movement ratio provides fast cursor response for productivity. During click event sequences (when selector displacement exceeds thresholds), the system reduces the movement ratio to improve cursor positioning precision, thereby resolving the contradiction between speed and precision through dynamic adaptation
Solution Approach 2:
The system periodically evaluates the displacement of the hand-actuated selector and adjusts cursor movement characteristics accordingly. By monitoring selector position continuously and transitioning between different cursor response modes (normal mode with higher ratio, click mode with lower ratio), the system achieves both high productivity during navigation and high precision during selection operations
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
This approach enhances the precision of haptic feedback and cursor control, reducing the likelihood of errors during surgical procedures by providing timely and appropriate haptic cues and maintaining accurate alignment with surgical targets.
Implementation Method 1
Sensors sense amount of displacement distance of the hand-actuated selector from a neutral position
Implementation Method 2
motors are controlled according to a second control state to impart a haptic force to the hand-actuated selector that increases as a function of increasing displacement
Data Source
AI summary
A method is provided to control actuation of a click event by a hand-actuated selector moveably mounted to a mount structure, comprising: in a first control state, imparting a maintaining force to the hand-actuated selector; in a second control state, imparting a haptic force to the hand-actuated selector that increases as a function of increasing displacement of the hand-actuated selector from the neutral displacement position; imparting a click event signal to cause an occurrence of the click event at a display system, in a third control state, imparting a haptic force to the hand-actuated selector that decreases in magnitude to a reduced magnitude.