Robotic Haptic Feedback Noise Filtering
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Solution Overview
Problem
Current robotic instruments for minimally invasive surgery lack an effective method to filter out noise in haptic feedback, leading to inaccurate force estimation and potential tissue damage due to environmental and mechanical factors.
Innovation Solution
A robotic motor drive and haptic feedback system utilizing precision actuators, force transducers, and signal filters to measure and filter forces acting on the robotic arm and end effector, providing accurate haptic feedback by reducing noise through the use of cable elements and software algorithms for joint and end effector control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the haptic feedback system measures forces directly without filtering, then the system structure remains simple, but the measurement precision deteriorates due to noise from tool-tissue engagement, tool tip vibrations, and mechanical assembly vibrations
Solution Approach 1:
The patent segments the force measurement signal into different frequency components using signal processing techniques. By separating the useful surgical force signals from the noise components (vibrations, mechanical assembly noise), the system achieves precise force measurement while managing complexity through structured signal decomposition and filtering approaches.
2Reliability
If no noise filtering is implemented in the haptic feedback system, then the device complexity remains low, but the reliability deteriorates leading to erroneous force feedback and potential tissue damage
Solution Approach 1:
The patent implements a feedback mechanism where the measured forces are processed through filtering algorithms that continuously adjust the haptic feedback signal. This feedback loop ensures that only accurate, noise-filtered force information is transmitted to the operator, improving reliability while the structured feedback architecture manages system complexity through systematic signal processing.
3Measurement precision
If the system includes noise filtering arrangements, then the measurement precision and reliability improve, but the device complexity increases
Solution Approach 1:
The patent replaces complex mechanical filtering mechanisms with software-based signal processing algorithms. Instead of using additional mechanical components or complex physical filtering structures, the system uses computational methods to filter noise from force measurements, achieving high measurement precision while keeping the overall system complexity manageable through virtual rather than physical filtering solutions.
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 system enables precise force estimation and accurate haptic feedback, reducing the likelihood of errors and improving the automation of surgical procedures by filtering out noise and enhancing haptic resolution.
Implementation Method 1
The haptic force feedback is used by the operator during the surgical procedure to estimate the magnitude of the pressure that needs to be applied at the surgical site. The haptic feedback unit measures forces acting on the robotic arm and end effector assembly
Data Source
AI summary
The present application describes a method and system for performing medical procedures. The system includes a robotic arm assembly, an end effector assembly and a set of transducers. The system further includes a cable element that is used to control the movement of the robotic arm assembly and the end effector assembly. The cable element is also connected to the set of transducers, which measure the force imparted on the robotic arm assembly and the end effector assembly during the medical procedures.