Master Manipulator Rotation Assembly With Force Feedback for CT Surgery
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Solution Overview
Problem
Current master-slave teleoperated robots in CT-guided surgeries fail to accurately simulate the doctor's posture and provide sufficient force feedback, leading to increased surgical risk, uncertainty, and reduced efficiency.
Innovation Solution
A master manipulator device with a posture adjustment member comprising multiple rotation mechanisms and feedback assemblies that simulate the doctor's posture and provide force feedback, allowing precise control of surgical tools.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If a master-slave teleoperated robot is used to protect doctors from radiation exposure, then doctor safety is improved, but the robot cannot simulate the doctor's posture which increases surgical risk and reduces operational efficiency
Solution Approach 1:
The master manipulator device incorporates force feedback assemblies that provide tactile feedback to the operator, simulating the resistance and forces experienced during actual surgical operations. This feedback mechanism allows the operator to sense and adjust to the surgical environment, improving control precision and surgical safety while maintaining remote operation for radiation protection.
Solution Approach 2:
The device includes a posture adjustment member with multiple rotation mechanisms that can replicate and simulate the natural posture and movements of a doctor performing surgery. By copying the doctor's operational posture through adjustable mechanical components, the system maintains surgical reliability while enabling remote operation for radiation safety.
2Object-affected harmful factors
If a master-slave teleoperated robot is used to protect doctors from radiation exposure, then doctor safety is improved, but operational efficiency is reduced due to inability to simulate doctor's posture
Solution Approach 1:
The posture adjustment member with multiple rotation mechanisms replicates the doctor's natural surgical posture, enabling intuitive and efficient control of surgical tools. This copying of human posture maintains operational efficiency by allowing the operator to work in a familiar, ergonomic position while still benefiting from remote radiation-protected operation.
Solution Approach 2:
The device incorporates dynamically adjustable posture mechanisms that can adapt to different surgical procedures and operator preferences. This dynamic adjustability maintains high operational efficiency by allowing quick adaptation to various surgical scenarios while preserving the benefits of remote operation for radiation protection.
3Reliability
If force feedback is added to simulate doctor's posture, then surgical safety is improved, but device complexity increases
Solution Approach 1:
The force feedback system is divided into separate modular components, including individual rotation mechanisms and feedback assemblies for each degree of freedom. This segmentation allows the complex feedback functionality to be implemented in manageable modules, reducing overall system complexity while maintaining surgical safety through comprehensive force feedback.
4Reliability
If multiple rotation mechanisms are added to simulate posture, then surgical safety is improved, but device complexity increases
Solution Approach 1:
The posture adjustment member is divided into multiple independent rotation mechanisms, each handling a specific degree of freedom. This segmentation allows the complex posture simulation functionality to be achieved through modular components, making the system more manageable and maintainable while improving surgical safety through accurate posture replication.
Data Source
AI summary
The present disclosure provides a master manipulator device for a robot. The master manipulator device comprises an end control assembly and a posture adjustment member. The posture adjustment member includes a first rotation mechanism and a second rotation mechanism. The first rotation mechanism is connected to the end control assembly, and the second rotation mechanism is connected to the first rotation mechanism. The end control assembly drives the first rotation mechanism to rotate around a rotation axis of the first rotation mechanism, and the end control assembly also drives the first rotation mechanism and the second rotation mechanism to rotate around a rotation axis of the second rotation mechanism.