Impactor Mechanism for High-Force VR Surgery Simulation
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Solution Overview
Problem
Current virtual reality (VR) surgery simulation systems with force feedback struggle to accurately replicate the high-force manipulations required for procedures like hip surgery, as serial manipulators often fail to reconcile finer movements with excessive force inputs.
Innovation Solution
A novel impactor mechanism featuring a base with a spherical joint and shock absorption devices, allowing for rotational and translational degrees of freedom, equipped with sensors to measure orientation and force, enabling precise and realistic simulations in VR surgery systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If serial manipulators with motors and transmission are used to provide force feedback, then accuracy and bandwidth are improved, but the system cannot handle high-force manipulations required for procedures like acetabular cup impaction
Solution Approach 1:
The system is divided into two separate manipulators: a first serial manipulator dedicated to providing accurate force feedback for fine movements, and a second parallel manipulator dedicated to handling high-force impact operations. This segmentation allows each manipulator to be optimized for its specific function without compromise
Solution Approach 2:
A coupling mechanism serves as an intermediary between the two manipulators, allowing them to work together as a coordinated system. The coupling mechanism enables the parallel manipulator to provide high-force impact while the serial manipulator maintains accurate force feedback and positioning control
2Manufacturing precision
If smaller components are used in serial manipulators to provide high bandwidth force feedback, then accuracy is improved, but the system lacks the structural robustness for high-force impact operations
Solution Approach 1:
The system separates fine movement control from high-force impact operations by using two different manipulator types. The serial manipulator with smaller precision components handles positioning and force feedback, while the parallel manipulator with larger robust components handles impact forces
Solution Approach 2:
Different parts of the system have different structural qualities optimized for their specific functions: the serial manipulator has precision-engineered smaller components for accurate control, while the parallel manipulator has robust larger components for withstanding high forces
3Device complexity
If a single manipulator system is used to perform both fine movements and high-force impact, then device complexity is reduced, but the system cannot simultaneously achieve precision and high-force capability
Solution Approach 1:
Two different manipulator systems are merged into a single integrated surgical system through a coupling mechanism. This allows the system to achieve capabilities that would be impossible with a single manipulator type alone
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 provides a robust and realistic simulation of high-force manipulations, enhancing the accuracy and realism of VR surgery training by accurately tracking and responding to impact forces and orientations, thus improving surgical skill development.
Implementation Method 1
The joint is a spherical joint, the spherical joint being a rod end bearing
Implementation Method 2
The at least one shock absorption device is at least one coil spring
Data Source
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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.