Multi-Link Surgical Grasper Input for Ergonomic Robotic Control
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Solution Overview
Problem
Current robotic surgical systems face challenges in providing an ergonomic and intuitive input device for controlling medical instruments, particularly in performing complex maneuvers like rolling and grasping, due to limitations in hand movement translation and instrument actuation.
Innovation Solution
The development of a multi-link grasper with radially symmetric configuration and secondary input mechanisms, such as push buttons and rotary inputs, that allow for precise control and decoupling of instrument movement, enhancing user interaction and reducing hand repositioning needs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a traditional robotic surgical system is used, then instrument positioning can be achieved, but ergonomic control and intuitive operation are compromised
Solution Approach 1:
The input device is segmented into multiple independent links (first pair and second pair of opposing links) that can move relative to each other, allowing complex surgical instrument maneuvers to be broken down into simpler, more ergonomic hand movements. Each link can be actuated independently to control different degrees of freedom of the robotic surgical tool.
Solution Approach 2:
The input device introduces a radial dimension for link movement relative to the central longitudinal member, transforming conventional linear or rotational controls into radial motions that are more intuitive for hand manipulation. The links move radially outward and inward from the central axis, providing a new dimensional approach to control.
2Measurement precision
If complex maneuvers like rolling and grasping are performed, then surgical precision is improved, but hand repositioning frequency increases
Solution Approach 1:
The multi-link grasper structure serves multiple functions: it can perform rolling maneuvers, grasping actions, and positioning adjustments all through a single integrated input device configuration. The same radial movement mechanism enables different surgical maneuvers without requiring the operator to reposition their hand or switch control modes.
Solution Approach 2:
The input device employs dynamic linkages where the opposing links can move radially relative to the central member, allowing the control structure to adapt its configuration during operation. This dynamic adjustment enables smooth transitions between different surgical maneuvers while maintaining ergonomic hand positioning.
3Adaptability or versatility
If radial movement of links is enabled, then control versatility is improved, but mechanical complexity increases
Solution Approach 1:
The first pair of opposing links is designed with different dimensions than the second pair, with each pair serving specific control functions. This asymmetric design allows optimization of each link pair for its particular role while maintaining the overall radial symmetry needed for ergonomic control. The asymmetry in link dimensions provides mechanical advantage for specific maneuvers without compromising overall versatility.
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 multi-link grasper design improves ergonomic control over robotic surgical tools, enabling smoother execution of complex maneuvers and reducing user fatigue by allowing for more intuitive and versatile hand movements.
Implementation Method 1
The central longitudinal member can include a hall effect sensor
Data Source
AI summary
Certain aspects relate to systems and techniques for an input device for controlling a robotic surgical tool. The input device can include a first pair of opposing links and a second pair of opposing links. The first pair of opposing links and second pair of opposing links can be arranged radially symmetrically. The input device can be configured to control operation of the robotic surgical tool.