Robotic Surgical Arm Haptic Guidance for Normal Region Return
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Solution Overview
Problem
Existing robotic surgical systems lack the ability to easily return the robot arm to a normal region when it moves out of the intended operational space, relying solely on auditory, optical, and tactile feedback without providing a mechanism to correct the deviation.
Innovation Solution
A robotic surgical system with a control method that sets a plane when the operation unit is moved towards the edge of the normal region, applying a force to the operation unit to guide the operator in returning the robot arm to the normal region, using servomotors and encoders to assist in maintaining the correct posture.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If only auditory, optical, and tactile feedback is provided to the operator, then the system structure remains simple, but the robot arm cannot be easily returned to the normal region
Solution Approach 1:
The patent applies feedback by providing tactile force feedback through the operation unit. When the robot arm approaches the boundary of the normal region, the control device applies a force to the operation unit in the direction opposite to the movement, creating a feedback mechanism that guides the operator to return the robot arm to the normal region without requiring complex additional hardware
Solution Approach 2:
The system enables self-service by automatically applying the guiding force through the existing operation unit without requiring separate warning devices or complex intervention mechanisms. The force application utilizes the current operational structure to serve the dual purpose of both controlling and guiding the robot arm back to normal positioning
2Loss of information
If a warning is merely presented to the operator when the robot arm moves out of the normal region, then the system remains simple, but the operator cannot intuitively know the operation direction to return the robot arm
Solution Approach 1:
The patent provides feedback by applying tactile force to the operation unit that conveys directional information. The force is applied in the direction opposite to the robot arm's movement, allowing the operator to intuitively perceive the correct operation direction through tactile sensation rather than relying on visual or auditory warnings alone
Solution Approach 2:
The operation unit serves as an intermediary that transmits directional information to the operator. Instead of using separate warning devices, the existing operation unit mediates the communication of operational status and direction through the force feedback mechanism integrated into the control device
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 intuitive and easy return of the robot arm to the normal region by providing tactile feedback, ensuring precise control and preventing the robot arm from moving out of its intended operational space.
Implementation Method 1
control the drive to apply a force to the operation unit when the operation unit crosses the plane
Data Source
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AI summary
A robotic surgical system (500) includes a surgical robot (100) including a robot arm (50) to allow a surgical instrument (1) to be attached thereto, an operation apparatus (200) including an operation unit (110) to receive an operation from an operator, the operation unit (110) including a drive (SM7a, SM7b, SM7c) to assist the operator in performing the operation, the operation apparatus (200) being configured to operate the surgical robot (100), and a control device (340) configured or programmed to set a plane (SU) when the operation unit (110) is moved such that the robot arm (50) is attempting to move out of a normal region, and control the drive (SM7a, SM7b, SM7c) to apply a force (PW) to the operation unit (110) when the operation unit (110) crosses the plane (SU).