Master Manipulator Force Feedback for CT-Guided Surgical Control
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Solution Overview
Problem
Current master-slave teleoperated robots in CT-guided surgery lack the ability to accurately simulate the operation of a doctor, leading to increased risk, uncertainty, and reduced efficiency due to the lack of force perception and precise control of surgical tools.
Innovation Solution
A master manipulator with an end control assembly and attitude adjustment assembly, including rotating transmission bars and feedback mechanisms, that simulates the operation of a doctor by providing force feedback and precise control of surgical tools, allowing for real-time adjustment and improved surgical efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If a master-slave teleoperated robot is used to prevent radiation exposure, then the safety of the doctor is improved, but the ability to simulate doctor's operation and control surgical tool attitude deteriorates
Solution Approach 1:
The master manipulator copies the doctor's hand movements and attitudes through mechanical linkage mechanisms (first and second mechanisms with rotating transmission bars) to reproduce the natural surgical gestures and tool orientations that would otherwise be lost in teleoperation
Solution Approach 2:
The system provides force feedback through the master manipulator to simulate the resistance and tactile sensations encountered during surgery, allowing the operator to perceive and adjust surgical tool attitude in real-time as if directly manipulating the instruments
2Object-affected harmful factors
If a master-slave teleoperated robot is used to prevent radiation exposure, then the safety of the doctor is improved, but the surgical efficiency deteriorates
Solution Approach 1:
By copying the doctor's natural surgical movements and attitudes through the master manipulator, the system eliminates the learning curve and adaptation time required for traditional teleoperation, allowing surgeons to perform operations with efficiency comparable to direct manual control
Solution Approach 2:
The master manipulator automatically adjusts and maintains the correct surgical tool attitude based on the operator's movements, eliminating the need for separate manual adjustments and reducing operational complexity to maintain high surgical efficiency
3Object-affected harmful factors
If a master-slave teleoperated robot is used to prevent radiation exposure, then the safety of the doctor is improved, but the operation risk increases
Solution Approach 1:
Force feedback mechanisms provide real-time tactile information about surgical tool interaction with tissue, allowing the operator to detect resistance changes, tissue boundaries, and potential complications, thereby reducing operational risks that would otherwise go unnoticed in teleoperation
Solution Approach 2:
The faithful copying of surgical tool attitude and positioning through the master manipulator ensures precise and repeatable surgical actions, reducing variability and errors that could increase operational risk in traditional teleoperated systems
Data Source
AI summary
Embodiments of the present disclosure provide a robot and a master manipulator thereof. The master manipulator includes: an end control assembly; and an attitude adjustment assembly. The attitude adjustment assembly may include a first mechanism and a second mechanism, the first mechanism and the second mechanism are connected to the end control assembly, and the end control assembly controls the first mechanism and the second mechanism to move through the connection between the first mechanism and end control assembly and the connection between the second mechanism and the end control assembly.