Surgical Manipulator Dial with Rotating Flexion Inputs

Solution Overview

Problem

Current surgical-manipulator systems with master-slave configurations face challenges in providing intuitive and efficient control over rotational and flexing joints, particularly in aligning the operation of end effectors with the desired directions without causing confusion, especially when the rotational joint is rotated.

Innovation Solution

A surgical-manipulator operating device with a gripping portion, a rotatable dial for inputting rotation instructions, and flexion input switches positioned on the dial to align with the flexing joint's direction, allowing intuitive operation by correlating the dial's rotational angle with the flexing joint's movement, and utilizing sensors to detect circumferential positions for generating appropriate flexion instructions.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If a traditional joystick operating device is used for surgical manipulators, then the device structure is simple, but the operator cannot intuitively understand the direction of flexion when the rotational joint is rotated, leading to operational confusion

Engineering Contradiction:

Improveintuitive operationVSAvoidoperating device structure

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The operating device allows the operating positions to rotate together with the rotational joint, creating a dynamic interface that adapts to the manipulator's orientation. This dynamic adjustment enables the operating positions to maintain their directional correspondence with the flexing joint, providing intuitive control regardless of the rotational joint's angle.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system provides visual feedback by displaying the operating positions on a screen in correspondence with the rotational angle. This feedback mechanism helps the operator understand the current orientation and the direction of flexion, reducing operational confusion and improving control precision.

Inventive Principle:

Principle #23Feedback

2Manufacturing precision

If fixed operating positions are used on the rotating member, then the device structure is simple, but the flexion input directions do not correspond to the actual flexing joint directions when the rotational joint is rotated

Engineering Contradiction:

Improveflexion direction alignmentVSAvoidoperating device structure

Core Design Contradiction:

Manufacturing precisionVSDevice complexity

Solution Approach 1:

The operating positions are configured to rotate together with the rotational joint, creating a dynamic interface that adapts to the manipulator's orientation. This dynamic adjustment enables the operating positions to maintain their directional correspondence with the flexing joint, providing intuitive control regardless of the rotational joint's angle.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The operating positions for flexion input are merged with the rotational joint structure, allowing them to rotate together. This integration ensures that the operating positions automatically align with the flexing joint directions, eliminating the need for separate adjustment mechanisms while maintaining precise directional correspondence.

Inventive Principle:

Principle #5Merging (Combining)

3Reliability

If the operating positions do not rotate with the rotational joint, then the device structure is simple, but the operator experiences confusion and misalignment between input direction and actual manipulator movement

Engineering Contradiction:

Improveoperational accuracyVSAvoidoperating device structure

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The operating positions are configured to rotate together with the rotational joint, creating a dynamic interface that adapts to the manipulator's orientation. This dynamic adjustment enables the operating positions to maintain their directional correspondence with the flexing joint, providing intuitive control regardless of the rotational joint's angle.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system provides visual feedback by displaying the operating positions on a screen in correspondence with the rotational angle. This feedback mechanism helps the operator understand the current orientation and the direction of flexion, reducing operational confusion and improving control precision.

Inventive Principle:

Principle #23Feedback

Data Source

PatentUS10660720B2Surgical-manipulator operating device and surgical-manipulator system

Publication Date: 2020.05.26 OLYMPUS CORPORATION(JP)

AI summary

A device for operating a surgical manipulator including, at a distal end of an elongate shaft: a rotational joint that is rotatable about a longitudinal axis of the shaft; and a flexing joint that is on a distal-end side of the rotational joint and that can be flexed about an axis that intersects the longitudinal axis. A surgical-manipulator operating device including: a gripping portion that is gripped by an operator; a rotation input portion that is provided with a rotating member attached to the gripping portion in a rotatable manner and with which rotation instructions for the rotational joint are input in accordance with rotational angles of the rotating member; and flexion input portions with which flexion instructions for the flexing joint are input in directions corresponding to fixed circumferential-direction operating positions on the rotating member.