Robotic Surgery Vibration Feedback Sensor Actuator

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Solution Overview

Problem

Robotic systems, particularly in surgical applications, lack effective feedback mechanisms for operators, leading to challenges in precision and control due to the dissociation of the user's sense of touch from the robotic tool, especially in minimally invasive procedures where direct contact is limited.

Innovation Solution

A robotic surgery system incorporating a sensor to detect vibrations of surgical tools and an actuator to provide corresponding feedback to the control handle, allowing for tactile and audio feedback to the operator, enhancing sensory experience and precision.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If robotic systems are used for minimally invasive surgery, then precision and ease of operation are improved, but the operator loses tactile feedback from direct contact with the surgical tool

Engineering Contradiction:

Improveease of operationVSAvoidtactile feedback

Core Design Contradiction:

Ease of operationVSLoss of information

Solution Approach 1:

The system implements a feedback mechanism where a sensor detects vibrations from the surgical tool and an actuator reproduces these vibrations on the control handle, allowing the operator to sense tool interactions with tissue or objects during minimally invasive procedures

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The patent introduces an intermediary system consisting of a sensor and actuator that mediates between the surgical tool and the operator, transferring tactile information through the control handle when direct contact is not possible

Inventive Principle:

Principle #24Intermediary (Mediator)

2Measurement precision

If visual feedback is used for precise control, then control precision is improved, but cognitive load increases and operator fatigue increases

Engineering Contradiction:

Improvecontrol precisionVSAvoidcognitive load

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The system provides tactile feedback through vibration transmission from the surgical tool to the control handle, enabling operators to maintain precise control through physical sensation rather than continuous visual monitoring, thereby reducing cognitive load

Inventive Principle:

Principle #23Feedback

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 improves precision, speed, and ease of operation by providing real-time tactile and audio feedback, reducing cognitive load and enabling more accurate robot-assisted surgeries.

Implementation Method 1

The sensor is positioned to sense a vibration of the surgical tool

Methodology Applied

Scientific EffectVibration sensing: Vibration

Implementation Method 2

The actuator is positioned to provide a vibration to the control handle of the control station

Methodology Applied

Scientific EffectVibration generation: Vibration

Data Source

PatentUS9990856B2Systems and methods for providing vibration feedback in robotic systems

Publication Date: 2018.06.05 THE TRUSTEES OF THE UNIV OF PENNSYLVANIA

AI summary

Systems and methods for training an operator of a robotic surgery system are disclosed. One such method includes enabling the operator to perform a test procedure, recording vibrations of a surgical tool of the robotic surgery system during the test procedure, and generating a score for the operator based at least in part on the recorded vibrations of the surgical tool.