Master Control Device Finger Grip Sensing Teleoperation
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Solution Overview
Problem
Existing master control devices for teleoperated systems, such as surgical robots, often struggle with user comfort and precision over long periods, particularly due to difficulties in maintaining a secure grip and the need for operation within a stationary workstation.
Innovation Solution
A master control device with an elongated control body featuring a surface with deformable portions, coupled with a force sensor that senses forces applied by the user's fingers, allowing for precise control signals to be generated based on finger grip and orientation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional hand input devices are used in teleoperated systems, then control functions can be provided, but user fatigue increases and grip security deteriorates over long periods
Solution Approach 1:
The control body employs a flexible outer shell or skin that can deform under finger pressure, allowing the device to conform to the user's hand grip while maintaining structural integrity. This flexibility enhances comfort during prolonged operation and ensures secure grip without causing fatigue
Solution Approach 2:
The system dynamically adjusts control parameters based on detected grip forces and device orientation. By monitoring forces applied to the control body and changing operational parameters accordingly, the system maintains reliable control while adapting to user comfort requirements over extended periods
2Ease of operation
If master control devices are fixed to stationary workstations, then stable control is achieved, but operational versatility and mobility are reduced
Solution Approach 1:
The patent replaces traditional mechanical mounting systems with sensor-based detection systems. Instead of physically constraining the device to a workstation, accelerometers and force sensors detect device orientation and grip forces to provide stable control signals, enabling wireless or mobile operation without sacrificing control reliability
Solution Approach 2:
The control device is designed to function independently of a fixed workstation environment. By incorporating sensors that detect orientation and grip forces in any position, the device provides universal control capability across multiple operating scenarios, whether handheld, mounted, or mobile
3Measurement precision
If force sensors and orientation sensors are integrated into the control body, then control precision is improved, but device complexity increases
Solution Approach 1:
The force sensor and orientation sensor are integrated into a unified control body structure, sharing common mechanical elements and processing circuits. This merging reduces overall device complexity while maintaining high measurement precision for both force and orientation parameters
Solution Approach 2:
The flexible control body structure serves as both the housing and the sensing element. The shell itself deforms under force, providing the sensing function, while also maintaining device geometry for orientation detection, thereby reducing the need for separate sensor 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
Enables the user to maintain precise control over teleoperated systems with reduced fatigue, allowing for accurate manipulation of slave instruments in various orientations and positions, including those outside a traditional workstation.
Implementation Method 1
the surface of the elongated control body includes deformable portions that are configured to deform from the forces received on the sides of the elongated control body
Implementation Method 2
the force sensor includes a transducer configured to detect deformation of the deformable portions of the surface by detecting fluid pressure in response to the deformation
Implementation Method 3
at least one sensor configured to sense a position of the elongated control body in a working environment of the elongated control body
Implementation Method 4
at least one sensor configured to sense an orientation of the elongated control body in a working environment of the elongated control body
Data Source
AI summary
Implementations relate to a master control device and methods for using such a control device. In some implementations, a master control device includes a control body including a surface. A force sensor is coupled to the control body, the force sensor configured to sense forces applied to the surface of the control body and provide sensor signals in accordance with amounts of the forces received on sides of the control body caused by a pinching of the control body between fingers of a user. At least one sensor is configured to detect at least one of a position and an orientation of the control body in a working environment of the control body.