Master End Tactile Feedback Device for Vascular Surgery
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Solution Overview
Problem
Current robot-assisted vascular interventional surgery systems lack tactile feedback and ergonomic design in their master-end apparatuses, leading to increased learning cycles and difficulty for surgeons, and compromising surgical experience and safety.
Innovation Solution
A force tactile feedback device at the master end of a robot-assisted system, featuring a surgeon operating rod with two degrees of freedom and units providing real-time tactile feedback through brushed direct current motors and incremental photoelectric encoders, replicating the torque characteristics of the guide wire and catheter at the slave end, integrated with a rhombus structure for ergonomic design.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a commercialized tactile feedback device is used as the master-end apparatus, then the tactile feedback function is achieved, but the learning cycle and difficulty of using the device by a surgeon increase
Solution Approach 1:
The master-end apparatus copies the familiar structure and operation mode of traditional guide wires and catheters. The operating rod is designed to be similar in appearance and handling characteristics to conventional vascular tools, allowing surgeons to leverage their existing skills and reduce the learning curve while maintaining tactile feedback functionality
2Device complexity
If motion control only is implemented without tactile feedback, then the device complexity is reduced, but the surgical experience and safety are compromised
Solution Approach 1:
The system implements bidirectional communication between the master-end and slave-end apparatuses. Force sensors at the slave end detect contact forces during surgical operations, and this force information is fed back through the control system to the master-end, allowing the surgeon to feel tactile feedback that reflects the actual interaction at the patient site, thereby improving surgical experience and safety
3Device complexity
If image guidance only is used without tactile feedback, then the device structure is simplified, but the delivery precision of guide wire and catheter to lesion location is reduced
Solution Approach 1:
The tactile feedback system provides force information to the surgeon during the delivery process, enabling real-time adjustment of manipulation forces. This haptic feedback complements image guidance by allowing the surgeon to sense resistance and contact forces, thereby improving precision in delivering the guide wire and catheter to the lesion location
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 device enhances surgical experience and safety by providing real-time tactile feedback and reducing the learning curve and difficulty of using the master-end device, aligning with traditional surgical motions and improving the success rate and safety of vascular interventional surgeries.
Implementation Method 1
brushed direct current motor
Implementation Method 2
solid shaft incremental photoelectric encoder
Data Source
AI summary
A force tactile feedback device at master end of robot assisted system for vascular interventional surgery includes a surgeon operating rod, a circumferential directional surgeon operation action capturing and force tactile feedback unit, a compressible and extendable rhombus structure, a transmission directional surgeon operation action capturing and force tactile feedback unit, a housing and a support plate. The force tactile feedback device at master end of robot assisted system for vascular interventional surgery keeps consistent with a traditional manual vascular interventional surgery in operation mode, and not only reduces a learning cycle and use difficulty for a surgeon on a master end apparatus, but also allows the surgeon to make full use of accumulated experience and skills.