Robotic Hand Controller Haptic Feedback for Surgical Precision
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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 procedures by requiring excessive visual judgment, increasing surgery time, and causing surgeon fatigue, especially for novice surgeons.
Innovation Solution
A robotic hand controller with a haptic interface that provides force feedback through motors and sensors, allowing control of robotic arms in multiple degrees of freedom, mimicking the natural motion of human wrists and fingers, and offering adjustable vibrational feedback to simulate the feel of conventional surgery.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If force feedback mechanisms are integrated into the robotic hand controller, then surgical precision and surgeon control are improved, but device complexity increases
Solution Approach 1:
The patent implements a haptic interface with force feedback mechanisms that provide tactile information to the surgeon during robotic surgery. Force sensors detect tissue interaction forces and transmit this information back to the surgeon through the hand controller, enabling precise control while maintaining system complexity through targeted feedback integration
Solution Approach 2:
The hand controller serves as an intermediary device between the surgeon and the robotic arms, incorporating force feedback mechanisms that mediate the interaction. This intermediary structure allows precise force transmission and control without requiring direct integration of complex feedback systems into the entire robotic platform
2Measurement precision
If haptic interface with force feedback is added to the robotic hand controller, then surgeon's ability to gauge pressure is improved, but device complexity and cost increase
Solution Approach 1:
Force sensors are integrated into the hand controller to detect tissue interaction forces and provide real-time haptic feedback to the surgeon. This feedback loop enables the surgeon to gauge applied pressure accurately while maintaining cost-effectiveness through selective sensor placement in the hand controller rather than throughout the entire robotic system
Solution Approach 2:
The patent replaces purely visual feedback mechanisms with haptic feedback through force sensors and actuators in the hand controller. This substitution provides tactile information that helps surgeons gauge pressure more naturally, reducing reliance on complex visual monitoring systems
3Adaptability or versatility
If force feedback is provided in multiple degrees of freedom, then surgical control and realism are improved, but device complexity increases
Solution Approach 1:
The hand controller is designed to provide force feedback across multiple degrees of freedom, enabling it to handle various surgical tasks including grasping, cutting, and tissue manipulation. This multi-functional capability allows a single device to replace multiple specialized tools, improving versatility without proportionally increasing complexity
Solution Approach 2:
The haptic interface dynamically adapts force feedback across different degrees of freedom based on surgical task requirements. The system adjusts stiffness, damping, and force levels in real-time to match the mechanical properties of different tissues and surgical instruments, providing realistic tactile feedback without requiring fixed complex mechanisms for each degree of freedom
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 enhances surgical precision, reduces errors, and decreases surgeon fatigue by providing a more realistic virtual environment, improving the efficiency and safety of minimal invasive surgery.
Implementation Method 1
a haptic interface (110) integrated into the hand controller and configured to receive force feedback from the plurality of robotic arms and generate force feedback in one or more of the at least six 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.