Skin Stretch Feedback Devices for Robotic Surgery
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Solution Overview
Problem
Haptic devices often interfere with users' ability to accurately and safely manipulate controllers due to vibratory or force feedback, particularly in safety-critical applications like robotic surgery, leading to unintended movements and reduced safety.
Innovation Solution
The development of shear display devices that generate skin shear using tactors moving in two- or three-dimensional space, providing tactile information and cues without causing gross motion of the user's hand, allowing for precise control of objects through skin stretch feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If traditional haptic devices provide vibratory or force feedback to convey information, then the user receives sensory input about the environment, but the feedback interferes with the user's ability to accurately and safely manipulate the controller
Solution Approach 1:
The invention segments the haptic feedback function into two independent components: a fixed controller body that remains stationary, and movable tactors that provide localized skin stretch feedback. This segmentation allows the feedback mechanism to be isolated from the controller manipulation interface, eliminating interference between feedback delivery and precise control.
Solution Approach 2:
The invention introduces skin stretch as an intermediary mechanism between the haptic device and the user's sense of touch. Instead of applying direct force or vibration to the controller, the system uses movable tactors to stretch the user's skin, which then transmits the sensory information to the user's nervous system. This intermediary approach conveys environmental information while maintaining stable controller positioning.
2Loss of information
If force feedback is applied to the controller, then the user receives information about object forces, but the feedback causes unintended movements of the user's hand and controller
Solution Approach 1:
The controller is segmented into a stationary body and independently movable tactors. The tactors can move to apply localized force through skin stretch without moving the entire controller, thereby conveying force information while maintaining precise control of the controlled object.
Solution Approach 2:
The invention transitions from one-dimensional force feedback (direct linear force on the controller) to two-dimensional skin stretch feedback. By moving tactors across the surface of the user's skin in multiple directions, the system conveys force magnitude and direction information through skin deformation rather than direct controller force application.
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
Enables users to accurately control objects by providing directional and force-related information through skin stretch, enhancing safety and precision in applications where traditional haptic feedback may cause accidents.
Implementation Method 1
a shear display device that can generate skin shear with one or more tactors moving in a two- or three-dimensional space
Data Source
AI summary
Embodiments of the present disclosure relate devices, systems, methods, and for displaying information about the direction and magnitude of position, movement, and/or resistive force experienced for an object. The present disclosure also provides a shear display device that can generate skin shear with one or more tactors. The movement of the tactors can represent to a user various information about an object.