Robotic Surgery Hand Controller Lateral Movement Detection
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Solution Overview
Problem
Robotic surgery systems face challenges in accurately and efficiently translating operator inputs into precise movements of surgical tools, particularly in detecting lateral movements and controlling the opening and closing of surgical instruments, which affects the dexterity and precision required for surgical procedures.
Innovation Solution
A hand controller apparatus with a control lever attached to a pivot joint, featuring a lateral movement detector that magnetically or inductively senses the movement of the control lever, allowing for precise control of surgical tools based on detected lateral movements, and includes a wiper and paddle mechanism with magnetic or inductive sensors to detect angle changes, enabling accurate opening and closing of surgical instruments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional hand grip controllers are used to control surgical tools, then basic movements can be achieved, but lateral movements and opening/closing control lack precision and accuracy
Solution Approach 1:
The patent replaces traditional mechanical detection mechanisms with magnetic and inductive sensing systems. Magnetic angular sensors detect the angular position of the control lever through magnetic field interactions, while inductive sensors detect lateral movements through electromagnetic induction, eliminating the need for complex mechanical linkages and improving detection precision without proportionally increasing mechanical complexity
Solution Approach 2:
The patent introduces magnetic fields and electromagnetic fields as intermediary mediums between the control lever and the detection system. The magnetic angular sensor uses magnetic field interactions to detect lever position, and the inductive sensor uses electromagnetic induction to detect lateral movements, creating a non-contact detection mechanism that enhances precision while simplifying the physical connection requirements
2Measurement precision
If magnetic or inductive sensors are added to detect lateral movements, then control precision is improved, but device complexity increases
Solution Approach 1:
The patent designs the control lever system to serve multiple functions: it controls surgical tool movements, enables lateral movements for additional degrees of freedom, and interfaces with both magnetic angular sensors and inductive sensors. This multi-functional design allows a single mechanical component to support multiple sensing modalities, improving control precision without proportionally increasing the number of separate components
Solution Approach 2:
The patent combines magnetic sensing and inductive sensing capabilities within the same control system. The magnetic angular sensor and inductive sensor work together to detect different aspects of control lever movement (angular position and lateral displacement), merging multiple detection functions into a unified sensing system that enhances overall control precision while sharing common structural elements
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
Enhances the precision and accuracy of surgical tool movements, allowing for more intricate procedures by effectively translating operator inputs into corresponding tool movements, improving the dexterity and control of surgical instruments within a robotic surgery system.
Implementation Method 1
a lateral movement detector configured to magnetically or inductively detect a lateral movement of the control lever
Implementation Method 2
a lateral movement detector configured to magnetically or inductively detect a lateral movement of the control lever
Implementation Method 3
The wiper can be configured to move in a direction opposite to a lateral movement of the paddle
Implementation Method 4
The magnetic angular sensor can be configured to detect the angle based on movement of the magnet
Implementation Method 5
The lateral movement detector can include an inductive sensor including a curved coil and configured to detect a curved movement of the wiper based on an electrical current induced at the curved coil by the movement of the wiper
Data Source
AI summary
In some embodiments, a hand controller apparatus for controlling a tool in a robotic surgery system can include a body including a proximal end and a distally located interface end configured to be coupled to an input apparatus configured to control a surgical tool. The hand controller apparatus can include a feedback device supported by the body and configured to provide feedback to a user in response to a change in a function of the hand controller apparatus from a first mode to a second mode, the second mode different from the first mode. The function can include at least one: controlling a camera that images a surgical site, instrument clutching to reposition the hand controller apparatus, a pre-set surgery routine, or an operation to control the surgical tool. The change from the first mode to the second mode can be configured to occur within the same function.