Robotic Surgical Force Feedback via Kinematic Position Comparison
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Solution Overview
Problem
Minimally invasive robotic surgical systems lack effective means to provide accurate force feedback to surgeons, which is crucial for mimicking the feel of actual surgery, as conventional systems often fail to accurately translate kinematic and actual positions of end effectors, leading to incomplete force information.
Innovation Solution
The method involves storing kinematic and actual position information for end effectors, calculating force applied by comparing these positions, and providing visual feedback through a system that superimposes a projected position onto an image of the end effector, allowing surgeons to intuitively feel forces applied during procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional systems use remote slave manipulator to feed back force information, then haptic feedback is provided to the surgeon, but the force information is inaccurate and incomplete
Solution Approach 1:
The patent introduces an intermediary computational model that acts as a mediator between the actual physical system and the force feedback provided to the surgeon. This virtual model compensates for missing force information by calculating expected forces based on kinematic data, thereby improving accuracy without requiring direct force sensors at the end effector
Solution Approach 2:
The patent creates a virtual copy or model of the surgical system that replicates the mechanical properties and force characteristics. This digital twin allows the system to generate accurate force feedback information computationally, bypassing the need for complex physical sensing while maintaining information completeness
2Measurement precision
If the system stores and processes multiple position information data, then force information accuracy is improved, but the device complexity increases
Solution Approach 1:
The patent replaces complex mechanical force sensing systems with computational methods. Instead of using additional physical sensors and hardware to measure forces directly, the system uses software-based calculations comparing kinematic and actual position data, thereby improving accuracy while avoiding increased hardware complexity
Data Source
AI summary
Methods of and a system for providing force information for a robotic surgical system. The method includes storing first kinematic position information and first actual position information for a first position of an end effector; moving the end effector via the robotic surgical system from the first position to a second position; storing second kinematic position information and second actual position information for the second position; and providing force information regarding force applied to the end effector at the second position utilizing the first actual position information, the second actual position information, the first kinematic position information, and the second kinematic position information. Visual force feedback is also provided via superimposing an estimated position of an end effector without force over an image of the actual position of the end effector. Similarly, tissue elasticity visual displays may be shown.