Surgical Manipulator Finger-Actuated Joint Control
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Solution Overview
Problem
Existing manipulators in laparoscopic surgery lack intuitive and independent control over joint position and flexion, requiring coordinated movements of the wrist and arm, which can lead to interference and reduced precision.
Innovation Solution
A manipulator design featuring a handle with a displaceable member, such as a plate spring, that allows for independent finger movement to input displacement instructions detected by sensors, enabling precise control of the joint's position and flexion without interfering with wrist or arm movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the manipulator uses a handle gripped by the hand with wrist and arm movements to control the joint, then the joint can be manipulated, but the control of joint position and flexion becomes interconnected and less precise due to coordinated movement requirements
Solution Approach 1:
The manipulating part is segmented into independent functional components: the handle for positioning and the displaceable member for flexion control. This segmentation allows independent control of joint position and flexion, eliminating the interference caused by coordinated wrist and arm movements while maintaining intuitive operation.
Solution Approach 2:
The displaceable member acts as an intermediary between the operator's finger movement and the joint flexion. By introducing this intermediate element, the system decouples the control of joint position (handled by wrist/arm movements on the handle) from joint flexion (controlled by finger movement on the displaceable member), thereby improving precision without sacrificing ease of operation.
2Productivity
If the manipulator requires coordinated movements of wrist and arm to control joint flexion, then the joint can be actuated, but operator fatigue increases and operational efficiency decreases
Solution Approach 1:
By segmenting the control functions into handle-based positioning and displaceable member-based flexion control, the system allows operators to use only finger movements for flexion adjustments rather than requiring coordinated wrist and arm movements. This reduces physical effort and operational complexity, thereby improving efficiency and reducing fatigue.
Solution Approach 2:
The displaceable member is designed to be directly manipulated by the operator's finger without requiring additional mechanical assistance or complex coordination with other body parts. This self-service design simplifies the control mechanism and reduces the physical burden on the operator, leading to improved operational efficiency and reduced fatigue.
3Measurement precision
If the manipulator uses a simple handle without additional displaceable members, then the structure remains simple, but the independent control of joint position and flexion is not achieved
Solution Approach 1:
The displaceable member serves as an intermediary element that enables independent control of joint flexion without significantly complicating the overall structure. It provides the necessary additional degree of freedom while maintaining a relatively simple configuration that integrates smoothly with the existing handle and shaft assembly.
Solution Approach 2:
The displaceable member is introduced only at the specific location where flexion control is needed, rather than redesigning the entire manipulating part. This localized addition maintains the simplicity of the overall structure while achieving the desired independent control precision for joint flexion.
Data Source
AI summary
A manipulator including an elongated shaft, at least one joint disposed at a distal end of the shaft, a manipulating part via which a movement instruction for the joint is input, and a driving unit that drives the joint according to the movement instruction input via the manipulating part. The manipulating part includes a handle fixed to the shaft and gripped in one hand of an operator, a displaceable member that is disposed at a position along which at least one finger of the hand gripping the handle can be extended and that can be displaced by a movement of the finger extending therealong, and a sensor that detects displacement of the displaceable member and outputs it as the movement instruction.