Robotic Surgical Operator Control With Adjustable Assist and Braking
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional robotic surgical systems fail to provide appropriate assistance to operators, as the assisting force varies significantly among users, leading to inconsistent operation experiences.
Innovation Solution
A robotic surgical system with an operator-side apparatus and control method that includes a level change receiver to adjust the operation start assisting force, in-operation assisting force, and braking force based on the operator's input, allowing for customizable assistance levels.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a motor generates torque to resist gravity and assist operator operation, then the operation force required is reduced, but the assisting force varies inappropriately among different operators
Solution Approach 1:
The patent applies dynamics by making the assisting force adjustable and changeable during operation. The control unit dynamically modifies the torque generated by the motor based on operator input through the operation amount receiver, allowing the assisting force to adapt to different operators' needs and operation phases, thus resolving the contradiction between ease of operation and adaptability
Solution Approach 2:
The patent changes the parameter of assisting force from a fixed value to a variable value that can be adjusted according to operator input. By receiving operation amount information and modifying the motor torque accordingly, the system allows operators to customize the assisting force level, thereby improving both ease of operation and adaptability simultaneously
2Device complexity
If the operation unit is designed with fixed assisting force, then the device complexity is reduced, but the operation precision and comfort are compromised
Solution Approach 1:
The patent implements feedback by having the control unit continuously receive operation amount information from the operation unit and adjust the motor torque in response. This closed-loop control system provides precise assistance while maintaining relatively simple device architecture, as the feedback mechanism uses existing operational data to automatically optimize the assisting force without adding complex hardware
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
Enables tailored assistance to operators, reducing the effort required for operation and preventing overshoot during stoppage, thereby enhancing the precision and comfort of robotic surgical procedures.
Implementation Method 1
The articulated arm includes a motor. The motor located in the articulated arm generates a torque to resist the gravity.
Implementation Method 2
The motor generates a force according to an operation speed at which the operator operates the operation unit. The force generated by the motor assists the operation of the operator on the operation unit.
Data Source
AI summary
In a robotic surgical system, a controller is configured or programmed to change at least one of a level of an operation start assisting force, a level of an in-operation assisting force, or a level of a braking force based on a level change operation of an operator received by a level change receiver.