Hydraulic Piston Transmission for Tremor Filtering and Haptic Feedback
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Solution Overview
Problem
Conventional robotic systems in surgery lack effective haptic feedback and are prone to physiological tremors, limiting the precision and reliability of delicate surgical tasks.
Innovation Solution
A hydraulic transmission system that scales the input force to output force ratio and mitigates tremors, using a modulator piston to adjust the force and displacement, providing haptic feedback without complex sensors and actuators.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If conventional robotic systems are used for surgical procedures, then automation is improved, but haptic feedback capability deteriorates
Solution Approach 1:
The patent replaces complex sensor-actuator systems with a purely hydraulic transmission system that naturally provides haptic feedback through fluid pressure. The hydraulic connection between input and output pistons creates direct mechanical coupling that transmits force feedback without requiring electronic sensors or actuators, thus substituting a complex mechatronic system with a simpler hydraulic one.
2Ease of operation
If physiological tremors are present during surgical operations, then human operation is maintained, but manipulation precision deteriorates
Solution Approach 1:
The patent employs a dynamic force modulation system where the modulator piston actively adjusts the force transmission ratio in real-time based on detected tremor frequencies. The system dynamically changes the hydraulic pressure relationship between input and output sides to filter out tremor components while preserving intentional surgical movements, thus adapting the system behavior to operational conditions.
3Device complexity
If a constant force ratio is used in hydraulic systems, then system simplicity is improved, but force scaling capability deteriorates
Solution Approach 1:
The patent transforms a static hydraulic system into a dynamic one by introducing a modulator piston that can change the effective area ratio between input and output sides. This allows the force transmission ratio to be dynamically adjusted during operation, enabling the system to adapt to different surgical tasks requiring different force magnitudes without changing the physical hardware configuration.
Solution Approach 2:
The patent changes the key parameter of force ratio from a fixed constant to a variable parameter controlled by the modulator piston. By adjusting the modulator piston position, the system varies the hydraulic pressure relationship, thereby changing the force scaling factor to match different surgical requirements while maintaining the same physical system.
4Measurement precision
If complex sensors and actuators are used to provide haptic feedback, then feedback accuracy is improved, but device complexity deteriorates
Solution Approach 1:
The patent replaces the complex mechatronic system of sensors and actuators with a purely hydraulic force transmission system. The haptic feedback is achieved through direct fluid pressure coupling between the output and input sides, where force applied at the output is naturally transmitted back to the input through the incompressible hydraulic fluid, eliminating the need for electronic sensing and actuation 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
Enhances the accuracy and safety of surgical procedures by reducing tremor effects and enabling precise control, allowing for procedures previously impossible due to tremors, while offering a cost-effective solution for haptic feedback.
Implementation Method 1
The input force is transmitted to the output piston via a hydraulic connection. The input force is modulated before being transmitted to the output piston.
Implementation Method 2
The input force is modulated before being transmitted to the output piston. The modulator piston is configured to modulate the input force.
Data Source
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AI summary
A transmission system (10) includes a first piston (12), a second piston (14) and a modulator piston (16). The first piston (12) receives an input force (FIN), the second piston (14) transmits an output force (FOUT), and the modulator piston (16) transmits a modulating force (FACT> which modulates the input force (FIN) received by the second piston (14) to implement tremor cancellation and force and/or provide variable motion scaling.