Haptic Trocar-Mimicking Interface for Vitreoretinal Robotics
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Solution Overview
Problem
Existing robotic systems for vitreoretinal surgery require surgeons to learn new manipulative techniques, as they constrain natural human movements, and do not accurately replicate the constraints of surgical instruments passing through the trocar, limiting the feasibility of certain operations.
Innovation Solution
A control interface with a haptic device and guiding device that mimics the constraints of surgical instruments passing through the trocar, allowing surgeons to perform natural manipulations, including rotational and translational movements, with a gripping member that detects and transmits pressure, using a sliding ball joint and detection means to accurately control robotic arms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robotic system uses a haptic device with an articulated chain for controlling surgical instruments, then the surgeon can perform vitreoretinal surgery with enhanced precision, but the control interface does not accurately mimic the movements of surgical instruments through a trocar
Solution Approach 1:
The guiding device with ball joint and sliding connection creates a mechanical copy of the trocar's movement constraints. The rod mounted on guiding means by sliding connection with axis corresponding to that of the rod, and the guiding means mounted on stationary surface by ball joint, replicates the exact movement geometry of a surgical instrument passing through a trocar, allowing surgeons to perform natural gestures without learning new manipulation patterns
Solution Approach 2:
The rod acts as an intermediary element that transmits the surgeon's manual manipulations through the guiding device to the haptic device's articulated chain. This intermediary mechanism ensures that the rod's depression, orientation changes, and rotational movements are faithfully reproduced by the robotic system while maintaining the natural feel of direct instrument manipulation
2Adaptability or versatility
If a robotic system requires training in articulated arm manipulations different from conventional surgical techniques, then the system can provide advanced robotic control capabilities, but the change from conventional operation to robotic-assisted operation becomes confusing for the surgeon
Solution Approach 1:
The control interface mechanically copies the conventional surgical manipulation geometry through the guiding device. The ball joint and sliding connection arrangement ensures that the rod moves in the same way as a surgical instrument would move through a trocar, allowing surgeons to transfer their existing surgical skills directly to the robotic system without requiring retraining on entirely new manipulation patterns
3Ease of operation
If the control interface uses a guiding device with ball joint and sliding connection to constrain rod movements, then the rod can be depressed and oriented like a surgical instrument through a trocar, but the system complexity increases
Solution Approach 1:
The rod serves as a simple intermediary element that connects the surgeon's hand to the complex haptic device. By placing the complexity within the haptic device's articulated chain and actuators while keeping the rod and guiding device mechanically simple, the system maintains ease of operation for the surgeon while achieving precise robotic control through the intermediary rod mechanism
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 surgeons to perform vitreoretinal surgery with natural hand movements, replicating the constraints of surgical instruments, enhancing the feasibility and precision of operations by accurately translating hand movements to the robotic system.
Implementation Method 1
a guiding means mounted on the stationary surface by a ball joint
Implementation Method 2
a rod mounted on said guiding means by a sliding connection with an axis corresponding to that of the rod
Implementation Method 3
detection means adapted to detect a pressure exerted by a user on said gripping member
Data Source
AI summary
A control interface (I) for a robotic system for the vitreoretinal surgery includes a haptic device (1) equipped with an articulated chain (2) having a free end (3). The interface includes a guiding device (10). The guiding device (10) includes a stationary surface (11), a guiding (20) mounted on the stationary surface by a ball joint (21), and a rod (30) mounted on the guide (20) by a sliding connection (25) with an axis corresponding to that of the rod (30). The rod includes a first end (32) mounted stationary on the free end (3) of the haptic device (1) and a second end (33) on which a gripping member (5) is mountable.