Surgical Robot Operator Force Control for Adjustable Haptic Assistance
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Solution Overview
Problem
Existing robotic surgical systems struggle to provide appropriate assistance to operators, as the level of force assistance varies significantly among operators and may not be optimally adjusted.
Innovation Solution
A robotic surgical system with an operator-side apparatus that includes an operation unit with a drive to assist the operator, a controller to adjust forces such as operation start assisting force, in-operation assisting force, and braking force, and a level change receiver to adjust these forces based on the operator's input.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a motor generates force according to operation speed to assist the operator, then the force required to operate the operation unit becomes small, but the appropriate amount of assisting force varies depending on the operator and may not be appropriate
Solution Approach 1:
The patent implements a level change receiver that allows the operator to dynamically adjust the assisting force level during operation. The controller receives level change operations and modifies the assisting force accordingly, transforming a static force assistance system into a dynamic one that adapts to individual operator needs in real-time
Solution Approach 2:
The system changes the parameter of assisting force level based on operator input. By providing a level change receiver that accepts operator commands to modify the assisting force parameter, the system enables each operator to customize the force assistance to their personal preferences and physical characteristics
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 system effectively adjusts the level of force assistance to match the operator's preferences, enhancing the precision and comfort of surgical operations by ensuring appropriate resistance and support.
Implementation Method 1
the controller is configured or programmed to control the drive to exert at least one of an operation start assisting force exerted when the operation unit starts to be operated, an in-operation assisting force exerted when the operation unit is being operated, or a braking force exerted when the operation unit is stopped
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.