Impactor Mechanism With Force Sensing for VR Surgery Simulation
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Solution Overview
Problem
Current virtual reality (VR) surgery simulation systems with force feedback struggle to reconcile finer movements with high-force manipulations required in procedures like hip surgery, as serial manipulators are not adapted to handle both accurately.
Innovation Solution
A novel impactor mechanism with a base, a rotational joint providing two degrees of freedom, sensors for orientation and force measurement, and a shock absorption device to manage high forces, allowing for precise and realistic simulations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If serial manipulators with motors and transmission are used to provide high bandwidth force feedback, then force feedback accuracy is improved, but the system cannot handle high-force manipulations required in surgical procedures
Solution Approach 1:
The system is divided into two separate manipulators: a serial manipulator for providing high bandwidth force feedback with precision, and a parallel manipulator for delivering high-force impacts. This segmentation allows each manipulator to be optimized for its specific function, resolving the contradiction between precision and high-force capability
Solution Approach 2:
An intermediary mechanism is introduced to couple the serial and parallel manipulators to the impactor shaft. This intermediary allows the two manipulators to work together, with the serial manipulator controlling orientation and the parallel manipulator providing impact force, enabling both precision and high-force operations
2Speed
If smaller components are used in serial manipulators to provide high bandwidth force feedback, then force feedback bandwidth is improved, but the system lacks the robustness for high-force surgical maneuvers
Solution Approach 1:
The system separates the functions of high-bandwidth force feedback and high-force delivery into two distinct manipulators. The serial manipulator uses smaller components optimized for bandwidth and precision, while the parallel manipulator uses larger components optimized for strength and robustness, eliminating the need to compromise between these conflicting requirements
Solution Approach 2:
The system merges the capabilities of two different manipulator types (serial and parallel) into a single integrated system. This combination allows the system to simultaneously achieve high bandwidth from the serial manipulator and high force capability from the parallel manipulator, resolving the contradiction between speed and strength
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 impactor mechanism enables accurate and realistic simulations by providing a robust and adaptable solution for both fine and high-force movements, enhancing the realism of VR surgery simulations and telesurgery systems.
Implementation Method 1
at least one coil spring for opposing a force against movement in each said translation degree of freedom
Data Source
AI summary
An impactor mechanism for virtual or telepresence surgery comprises a base. An impactor shaft has a first end and a second end, a handle portion being provided at the second end. A rotational joint(s) is between the first end of the impactor shaft and the base, the joint providing two or more rotational degrees of freedom to the impactor shaft. Sensors are in the impactor mechanism for measuring an orientation of the impactor shaft relative to the base, and for measuring at least an impact force on the impactor shaft, for use in virtual surgery.