Radially Symmetric Grasper Input for Ergonomic Robotic Surgery Control
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robotic surgical systems lack an efficient and ergonomic input device for controlling robotic surgical tools, which can lead to awkward arm motions and reduced ease of use for physicians during procedures.
Innovation Solution
The development of an input device featuring a multi-link grasper with radially symmetric links, allowing for precise control of robotic surgical tools through a combination of finger pads and secondary inputs, such as push buttons or rotary inputs, which can be used to decouple the input device from controlling the robotic tool.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a traditional input device is used for controlling robotic surgical tools, then the control function is achieved, but the ergonomic performance deteriorates causing awkward arm motions and reduced ease of use
Solution Approach 1:
The input device is segmented into multiple independent links (first pair of opposing links, second pair of opposing links, third pair of opposing links) that can move relative to each other. Each link can be manipulated independently by the user's fingers, allowing complex control functions to be broken down into simpler, more ergonomic individual movements that reduce arm strain.
Solution Approach 2:
The input device transitions from a traditional planar control interface to a three-dimensional radially symmetric structure. The links are arranged radially around a central longitudinal member, enabling control in multiple spatial dimensions simultaneously. This dimensional expansion allows more natural hand positioning and reduces awkward arm motions by distributing control actions across three-dimensional space.
2Measurement precision
If a simple input device structure is used, then the device complexity is reduced, but the control precision and functionality deteriorate
Solution Approach 1:
The control precision is enhanced by segmenting the input device into multiple independently movable links. Each link's position and movement can be precisely detected, and the combined state of multiple links provides fine-grained control authority. This segmentation allows precise control without requiring each individual component to be overly complex.
Solution Approach 2:
The input device incorporates sensors (such as hall effect sensors) that detect the position and movement of each link in real-time. This feedback mechanism enables precise control by continuously monitoring the state of each link and translating it into accurate robotic surgical tool movements, achieving high measurement precision through systematic sensing rather than mechanical complexity.
3Adaptability or versatility
If multiple links are added to the input device, then the control functionality is improved, but the device complexity increases
Solution Approach 1:
The radially symmetric link structure provides universal control functionality where the same basic link design can perform multiple control operations. Each link can serve as a finger pad, clutch button, or rotary input depending on its position and configuration. This multi-functionality allows diverse control capabilities to be achieved through a unified structural paradigm, reducing the need for specialized complex components for each function.
Solution Approach 2:
While the overall structure is radially symmetric, individual links can be asymmetrically configured with different lengths, shapes, or attached components (such as finger pads on some links and clutch buttons on others). This controlled asymmetry within the symmetric framework allows differentiation of control functions without breaking the overall structural efficiency, enabling versatile functionality with manageable complexity.
4Ease of operation
If the input device structure is made more ergonomic, then the ease of operation is improved, but the device complexity increases
Solution Approach 1:
The input device adopts a radially symmetric, essentially spherical arrangement of links around a central longitudinal member. This curved, three-dimensional geometry naturally accommodates the human hand's ergonomic contours, allowing fingers to rest comfortably on the links. The spherical geometry distributes control points evenly in three-dimensional space, creating intuitive and ergonomic control without requiring complex mechanical adjustments.
Solution Approach 2:
The links are designed to be dynamically movable relative to each other and to the central member, allowing the input device structure to adapt to the user's hand movements. This dynamic configuration enables the device to maintain ergonomic positioning throughout the range of motion, with links that can pivot and adjust to natural hand gestures, achieving ergonomic control through kinetic adaptability rather than static complexity.
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 input device enhances the ergonomic control of robotic surgical tools, allowing for more natural and intuitive movements, thereby improving the ease of use and reducing fatigue for physicians during surgical procedures.
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.