Robotic Surgical Controls With Tissue Force Feedback
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Solution Overview
Problem
Current surgical imaging systems are limited in their ability to recognize and convey concealed structures, physical contours, and dimensions within a three-dimensional space, and may fail to provide essential visualization data to clinicians during robotic surgeries, hindering decision-making and control of robotic systems.
Innovation Solution
A control system for robotic surgical systems that includes a robotic tool capable of detecting tissue properties and an input control device with a variable resistance assembly and control circuit, allowing for precise user input control motions and tissue property feedback to enhance robotic tool control and visualization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If conventional imaging systems are used to visualize the surgical site, then the system structure remains simple, but the ability to recognize concealed structures and convey three-dimensional information is insufficient
Solution Approach 1:
The patent combines multiple imaging modalities (ultrasound imaging, optical imaging) into a single integrated imaging system that can simultaneously acquire and process different types of surgical site information, thereby reducing information loss without proportionally increasing system complexity
Solution Approach 2:
The imaging system is designed to perform multiple functions including conventional 2D imaging, 3D reconstruction, concealed structure detection, and real-time visualization, allowing a single system to address various visualization needs that would otherwise require separate devices
2Ease of operation
If robotic tools are controlled without force feedback, then the control system remains simple, but the clinician's ability to perceive tissue properties and exercise precise control is reduced
Solution Approach 1:
The control system incorporates force feedback mechanisms that provide tactile information about tissue properties back to the clinician, enabling more precise control of robotic tools while maintaining a manageable system architecture through structured feedback loops
Solution Approach 2:
The system uses an intermediary feedback channel that translates robotic tool interactions with tissue into perceptible tactile sensations for the clinician, bridging the gap between mechanical interaction and human perception without requiring direct mechanical coupling
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 the ability to visualize and interact with surgical sites by providing real-time tissue property feedback, enabling more accurate and precise robotic surgical procedures by enhancing the clinician's understanding of the surgical environment.
Implementation Method 1
a variable resistance assembly (550) configured to provide a force feedback to the user based on the property of the tissue
Data Source
AI summary
An input control device is disclosed. The input control device can be configured to operate in different modes depending on proximity data provided by a proximity detection system. The input control device can include a feedback generator configured to generate feedback in response to the input control device switching between operational modes, the proximity data provided by the proximity detection system, and/or other conditions of the surgical procedure, robotic surgical tool, surgical site, and/or patient. The input control device can include a variable resistance assembly for resisting input control motions applied to an actuator thereof. Additionally or alternatively, the input control device can include an end effector actuator assembly for repositioning the end effector actuator based on feedback from a paired robotic surgical tool.