Haptic Apparatus Vibration Damping for Surgical Force Feedback
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Solution Overview
Problem
In medical robot systems, the vibration from pressure sensation/tactile sensation presenting devices can interfere with bilateral control, leading to unfavorable effects on the haptic feedback experienced by surgeons during operations.
Innovation Solution
A haptic presentation apparatus is designed with a vibration damping member interposed between the force sensor and the vibration generating source to suppress the transmission of vibration noise, ensuring accurate force feedback and improved sensitivity of the force sensor.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a vibration generating source is mounted on a haptic presentation apparatus to present tactile sensation, then tactile sensation presentation is improved, but vibration is transmitted to the force sensor causing noise in bilateral control
Solution Approach 1:
A vibration damping member is introduced as an intermediary component between the vibration generating source and the force sensor. This mediator absorbs and attenuates vibrations generated by the tactile sensation presenting device, preventing them from reaching the force sensor and corrupting the bilateral control signals.
Solution Approach 2:
The haptic presentation apparatus is segmented into distinct functional zones: a first region containing the force sensor for detecting surgeon inputs, and a second region containing the vibration generating source for tactile feedback. The vibration damping member creates a physical and functional separation between these segments, allowing each to operate independently without interfering with the other.
2Measurement precision
If vibration damping measures are implemented to suppress vibration transmission, then force sensor accuracy is improved, but device complexity increases
Solution Approach 1:
The vibration damping member serves as a simple intermediary component that effectively suppresses vibration transmission without requiring complex active control systems or multiple sensing elements. This passive damping approach maintains force detection accuracy while adding minimal structural complexity.
Solution Approach 2:
The vibration damping member can be implemented using simple, inexpensive damping materials that can be easily integrated into the apparatus structure. These materials provide effective vibration suppression without requiring complex manufacturing processes or expensive components.
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 solution effectively reduces vibration noise transmission to the force sensor, enhancing the accuracy of force control and haptic sensation presentation, thereby improving the surgical experience by maintaining precise control and reducing interference from unwanted vibrations.
Implementation Method 1
a vibration damping member configured to be interposed between the force sensor and the vibration generating source
Data Source
AI summary
A haptic presentation apparatus that includes a force sensor that detects force input to an operation portion that is operated by a user, and generates an electric signal corresponding to the detected force, a vibration actuator that presents tactile sensation to the user, a vibration damping member to be interposed between the force sensor and the vibration actuator; a first mechanical part contacting the force sensor; and a second mechanical part contacting the vibration actuator, and the vibration damping member is provided between the first mechanical part and the second mechanical part, such that the vibration damping member contact neither the force sensor nor the vibration actuator.