Robotic Hand Controller With Multi-DOF Haptic Force Feedback
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Solution Overview
Problem
Current robotic systems for minimal invasive surgery lack a haptic interface in the hand controller, resulting in the absence of force feedback, which complicates surgical precision, increases surgery time, and causes fatigue due to excessive reliance on visual feedback.
Innovation Solution
A robotic hand controller with a haptic interface that provides force feedback through motors and sensors, allowing control in multiple degrees of freedom, mimicking natural wrist and hand movements to enhance surgical precision and reduce fatigue.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If force feedback mechanisms are integrated into the robotic hand controller, then surgical precision and realism are improved, but device complexity increases
Solution Approach 1:
The patent implements force feedback mechanisms that provide tactile information to the surgeon through the hand controller, creating a closed-loop system where the surgeon can sense forces applied during surgery. This feedback loop enables precise control by allowing the surgeon to feel resistance and tissue properties, directly improving surgical precision while justifying the added device complexity through enhanced performance.
Solution Approach 2:
The hand controller serves as an intermediary device between the surgeon and the robotic arms, incorporating force feedback mechanisms that translate robotic arm forces into tactile sensations for the surgeon. This intermediary structure allows precise force transmission and control without requiring direct mechanical coupling, managing complexity through modular design.
2Adaptability or versatility
If force feedback is provided in multiple degrees of freedom, then surgical realism and control are improved, but device complexity and cost increase
Solution Approach 1:
The hand controller is designed to provide force feedback across multiple degrees of freedom (six-DOF), enabling it to handle various surgical motions and forces uniformly. This multi-functional capability allows a single device to manage complex spatial interactions, improving surgical realism by replicating natural hand-wrist coordination while consolidating multiple functions into one versatile controller.
Solution Approach 2:
The system transitions from providing force feedback in limited dimensions to six-degree-of-freedom feedback, adding spatial dimensions of force control. This dimensional expansion enables more realistic simulation of surgical maneuvers by incorporating rotational and translational forces across multiple axes, enhancing adaptability despite increased complexity.
3Productivity
If the surgeon relies solely on visual feedback, then the system remains simple, but surgery time increases and fatigue sets in
Solution Approach 1:
By introducing force feedback as an additional sensory channel alongside visual feedback, the system reduces the surgeon's dependence on visual information alone. This multi-sensory feedback approach enables faster and more intuitive control, reducing surgery time and minimizing fatigue by distributing sensory processing across multiple modalities, thereby improving overall productivity.
4Reliability
If haptic interface is added to provide force feedback, then surgical safety and precision are improved, but device complexity increases
Solution Approach 1:
The haptic interface provides real-time force feedback to the surgeon, enabling sensing of tissue forces and application of controlled counterforces. This feedback mechanism enhances surgical safety by allowing the surgeon to perceive and regulate applied forces, preventing excessive pressure or damage, while the modular integration manages the associated device complexity.
Solution Approach 2:
The force feedback system enables the surgeon to self-regulate applied forces through tactile cues, reducing the need for complex external control systems. The haptic interface serves the surgeon's need for force awareness and control autonomously, improving safety while keeping the system architecture relatively simple through self-service functionality.
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 integration of force feedback mechanisms in the robotic hand controller improves surgical accuracy, reduces fatigue, and creates a more realistic surgical environment, enhancing the overall efficiency and safety of minimal invasive surgery.
Implementation Method 1
the haptic interface receives a signal based on force feedback from the plurality of robotic arms and generates force feedback in one or more of the at least four degrees of freedom
Data Source
AI summary
A hand controller for enabling a user to perform an activity and method for controlling a robotic arm is provided. The hand controller includes a bar with a grip and a plurality of motors to provide a force feedback to the user in response to the movement of the plurality of mechanical arms. The method involves receiving input corresponding to the manipulation of a bar and providing a force feedback in response to the movement of the plurality of mechanical arms.