Multi-Finger Master Control Grip for Fatigue-Resistant Teleoperation
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Solution Overview
Problem
Users face difficulties in manipulating hand input devices for teleoperated systems, such as surgical instruments, over long periods due to fatigue and potential slippage, especially when operating without a stationary workstation or console.
Innovation Solution
A master control device with a multi-finger grip design, featuring a thumb grip and a finger grip member that are movable in a pinching configuration, equipped with sensors to detect relative positions and orientations, and extension portions for enhanced stability and control, allowing secure operation in mechanically ungrounded environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a traditional hand input device is used for teleoperated surgery, then the device can control surgical instruments, but the user experiences difficulty manipulating the device over long periods while maintaining a secure grip
Solution Approach 1:
The hand input device is segmented into multiple independent grip members (thumb grip member, index finger grip member, middle finger grip member, ring finger grip member, and little finger grip member) that can move relative to each other. This segmentation allows each finger to be positioned and secured independently, improving overall grip security and reducing manipulation difficulty during prolonged use.
2Adaptability or versatility
If the user operates the hand input device without being bound to a stationary workstation or console, then mobility is improved, but maintaining a secure grip becomes more difficult
Solution Approach 1:
The grip members are designed to be movable relative to each other, allowing the device to adapt dynamically to the user's hand position and movement. This dynamic configuration maintains grip security even when the user is mobile and not bound to a stationary workstation, as the grip members can adjust to compensate for movement and positioning changes.
3Reliability
If a multi-finger grip design is implemented, then grip security and reduced fatigue are achieved, but device complexity increases
Solution Approach 1:
Multiple grip members are merged into a single integrated hand input device structure, where each grip member is coupled to a common body. This merging approach achieves secure multi-finger grip and reduced fatigue while avoiding the complexity of completely separate devices, as the grip members work together as a unified system with coordinated movement.
Data Source
AI summary
Implementations relate to a master control device. In some implementations, a master control device includes a thumb grip member including a thumb grip receptive to a thumb of a hand of a user. The master control device includes a finger grip member coupled to the thumb grip member at a proximal end of the master control device and extending toward a distal end of the master control device, where the finger grip member includes a finger grip receptive to multiple fingers of the hand. The thumb grip member and finger grip member are movable in a pinching configuration with respect to each other. The master control device includes a sensor coupled to at least one of the thumb grip member or finger grip member to sense relative positions of the thumb grip member and finger grip member with respect to each other in the pinching configuration.