Multi-Link Surgical Input Handle for Ergonomic Robotic Control
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Solution Overview
Problem
Existing robotic surgical systems lack an efficient and ergonomic input device for controlling robotic surgical tools, particularly in laparoscopic procedures, which can lead to awkward arm motions and reduced ease of use for physicians.
Innovation Solution
The development of an input device featuring a multi-link grasper with radially symmetric links, including a first pair of opposing links with finger pads and a second pair of opposing links with clutch buttons, allowing for precise control and decoupling of the robotic surgical tool.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional input devices are used for robotic surgical systems, then control functionality is provided, but physician fatigue increases and ease of operation deteriorates due to awkward arm motions
Solution Approach 1:
The input device is segmented into multiple functional components: a handle portion for basic control, a multi-link grasper with four links for precise manipulation, and a clutch mechanism for decoupling control. Each segment performs a specific function, allowing the physician to operate with natural hand movements while distributing complexity across modular elements.
Solution Approach 2:
The multi-link grasper employs dynamic movement capabilities where the four links can move independently relative to each other, enabling complex surgical motions to be achieved through combinations of simpler link movements. This dynamic structure allows the device to adapt to different surgical tasks while maintaining ergonomic operation.
2Measurement precision
If a multi-link grasper with radially symmetric links is implemented, then control precision and ergonomic performance improve, but device complexity increases
Solution Approach 1:
While the overall grasper maintains radial symmetry for ergonomic balance, the four links are designed with asymmetric individual structures that complement each other in the symmetric arrangement. This allows each link to have optimized geometry for its specific motion requirements while the collective symmetric configuration provides balanced control and reduces physician fatigue.
Solution Approach 2:
The patent merges multiple control functions into the multi-link grasper structure: positioning control, grasping force application, and clutch engagement are integrated into the same mechanical system. The four links work together as a unified mechanism where their combined movements achieve precise control without requiring separate devices for each function.
3Adaptability or versatility
If clutch buttons are added to decouple the input device from controlling the robotic surgical tool, then operational flexibility improves, but device complexity increases
Solution Approach 1:
The clutch mechanism extracts the decoupling function from the main control system, allowing the physician to disengage the input device from the robotic tool when needed. This separate clutch mechanism provides operational flexibility by enabling temporary disconnection without complicating the primary control pathway, as the clutch operates as an independent but integrated component.
Solution Approach 2:
The clutch buttons are positioned on the multi-link grasper itself, allowing the physician to engage or disengage control directly from the operating position without requiring separate controls or complex switching mechanisms. The system serves itself by integrating the decoupling function into the primary handling device, reducing the need for additional control elements.
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 input device enhances the ergonomic control of robotic surgical tools, reducing physician fatigue and improving procedural ease by allowing for natural hand movements and intuitive actuation of surgical instruments.
Implementation Method 1
The central longitudinal member can include a hall effect sensor
Data Source
AI summary
Certain aspects relate to systems and techniques for an input device for controlling a robotic surgical tool. The input device can include a first pair of opposing links and a second pair of opposing links. The first pair of opposing links and second pair of opposing links can be arranged radially symmetrically. The input device can be configured to control operation of the robotic surgical tool.