Surgical Tool Guidance with Virtual Constraints and Haptic Feedback
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Solution Overview
Problem
Existing surgical systems face challenges in precisely placing a tool at a target position and orientation, with users experiencing reduced control in autonomous modes and difficulty in manual modes.
Innovation Solution
A surgical system with a manipulator and control system that includes sensors to measure forces and torques, a guide handler to generate virtual constraints, a constraint solver to calculate attraction forces, and a virtual simulator to provide haptic feedback, guiding the user to accurately position the tool.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the surgical system commands the manipulator to move the tool autonomously to place the tool at the target position and orientation, then the precision of tool placement is improved, but the user's perception of control over the tool deteriorates
Solution Approach 1:
The system dynamically switches between manual and autonomous modes based on the surgical task requirements. The manipulator can operate in manual mode where the user directly controls the tool, or switch to autonomous mode for precise positioning tasks, allowing the system to adapt its control characteristics in real-time
Solution Approach 2:
The system provides haptic feedback to the user during autonomous operation, creating a virtual connection between the user's manual inputs and the actual tool movement. This feedback loop maintains the user's sense of control while enabling precise autonomous positioning
2Ease of operation
If the surgical system operates in manual mode where the user applies forces and torques to the tool, then the user's control over the tool is maintained, but the precision of tool placement deteriorates
Solution Approach 1:
The system introduces virtual constraints as an intermediary between the user's manual control inputs and the actual tool movement. These virtual constraints act as a guiding mechanism that subtly influences the tool's trajectory toward the target position while preserving the user's manual control authority
Solution Approach 2:
The system modifies control parameters dynamically by adjusting the strength and stiffness of virtual constraints based on the distance to the target position and the specific surgical task requirements, enabling precise guidance while maintaining user control
3Measurement precision
If virtual constraints are applied to guide the tool toward the target state, then the tool placement precision is improved, but the system complexity increases
Solution Approach 1:
The virtual constraint mechanism serves multiple functions simultaneously: it guides the tool to the target position, provides haptic feedback to the user, and adapts to different surgical tasks. This multi-functionality reduces the need for separate control mechanisms and simplifies the overall system architecture
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
Enhances user control and precision in tool placement by providing haptic feedback, allowing for accurate alignment of the tool at target states or orientations, even in semi-autonomous modes.
Implementation Method 1
provide haptic feedback to the user that guides the user toward placing the tool at the target state
Data Source
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AI summary
Systems and methods are provided for guiding movement of a tool. The system comprises a tool and a manipulator. A guide handler obtains a target state for the tool and generates virtual constraints based on the target state and a current state of the tool. A constraint solver calculates a constraint force adapted to attract the tool toward the target state or repel the tool away from the target state based on the virtual constraints. A virtual simulator simulates dynamics of the tool in a virtual simulation based on the constraint force and input from one or more sensors, to output a commanded pose. The control system commands the manipulator to move the tool based on the commanded pose to thereby provide haptic feedback to the user that guides the user toward placing the tool at the target state or away from the target state.