Robotic Surgical Input Device with Haptic Feedback Modes
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Solution Overview
Problem
Current robotic surgical systems lack an input device capable of accurately controlling both steerable and non-steerable elongate instruments, and provide inadequate tactile feedback, making it difficult for surgeons to perform precise and intuitive movements during minimally invasive procedures.
Innovation Solution
A robotic surgical system with a multi-dimensional input device that operates in two modes, allowing movement in three dimensions and restricting movement to two dimensions within a plane, coupled with haptic feedback to provide resistance and tactile sensations, enabling precise control of elongate instruments and enhancing the surgeon's intuitive sense of instrument position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robotic system uses a single input device configuration, then it can be simple to operate, but it cannot accurately control both steerable and non-steerable elongate instruments
Solution Approach 1:
The input device dynamically changes its operational mode based on the type of instrument being controlled. The system switches between a first operational mode for non-steerable instruments and a second operational mode for steerable instruments, allowing the same physical device to adapt its functionality rather than requiring multiple specialized devices
Solution Approach 2:
A single input device is designed to perform multiple functions by operating in different modes. The device can control both non-steerable instruments (using first operational mode with basic movement control) and steerable instruments (using second operational mode with enhanced articulation control), eliminating the need for separate specialized controllers
2Extent of automation
If robotic systems remove tactile feedback to automate control, then automation increases, but the surgeon loses intuitive sense of instrument position
Solution Approach 1:
The system implements haptic feedback mechanisms that provide tactile information to the surgeon during robotic-controlled procedures. This feedback loop allows the surgeon to feel resistance, contact forces, and positional information through the input device, maintaining intuitive control awareness while benefiting from robotic precision and automation
Data Source
AI summary
A robotic surgical system with an input device has two operational modes by which both steerable and non-steerable elongate instruments can be effectively controlled, such as steerable catheters which can move in at least three orthogonal axes and non-steerable guidewires which can move via axial insertion/retraction or axial rotation. The robotic surgical system may include mapping schemes and haptic feedback to enhance the functionality, operation and ease of use of the input device when controlling non-steerable elongate instruments such as guidewires.