Teleoperation Controller With Gimbal-Admittance Ergonomic Control
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Solution Overview
Problem
Existing medical procedures, such as laparoscopy, face challenges in efficiently controlling the insertion and manipulation of medical instruments, particularly in robotically enabled systems, which often require awkward arm motions and lack ergonomic positioning for physicians.
Innovation Solution
A robotically enabled teleoperated system with a controller that includes a handle, gimbal, and positioning platform, allowing manipulation in multiple degrees of freedom through impedance and admittance control, enabling precise control of robotic tools with enhanced ergonomic operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If robotically enabled medical systems are used to control instrument insertion and manipulation, then precision and control are improved, but device complexity and ergonomic operation deteriorate
Solution Approach 1:
The controller is designed as a virtual replica of the robotic tool it controls. The handle, gimbal, and positioning platform create a master-slave system where the controller's movements are mirrored by the robotic tool, providing intuitive control while maintaining precision through the virtual duplication of the tool's geometry and motion characteristics
Solution Approach 2:
The controller acts as an intermediary between the operator and the robotic tool. It translates human hand movements into precise robotic commands through impedance and admittance control algorithms, mediating the interaction to achieve both ergonomic operation and surgical precision without direct mechanical connection
2Manufacturing precision
If robotically enabled medical systems are used to control instrument insertion and manipulation, then control precision is improved, but device complexity increases
Solution Approach 1:
The controller is divided into functionally independent segments: handle for user interaction, gimbal for rotational degree of freedom control, positioning platform for translational control, and instrument driver for tool actuation. Each segment operates with dedicated control algorithms (impedance for rotation, admittance for translation), allowing modular complexity management while achieving precise overall control
Solution Approach 2:
The system dynamically adjusts control parameters during operation. Impedance control adapts force and position characteristics in real-time based on surgical conditions, while admittance control modifies the relationship between applied forces and resulting motions. This dynamic adaptation enables precise control without requiring complex fixed mechanical structures
Data Source
AI summary
A robotically enabled teleoperated system can include a controller and a robotic tool capable of manipulation by the controller. The controller can include a handle, a gimbal and a positioning platform. The handle can be configured for actuation by an operator to cause a corresponding manipulation of the robotic tool. The gimbal can include a joint and a load cell. The joint can be configured to be manipulated based on an impedance control, such that manipulation of the gimbal causes a corresponding manipulation of the robotic tool based on a displacement of the joint. A portion of the positioning platform can be configured to be manipulated based on an admittance control, such that manipulation of the positioning platform causes a corresponding manipulation of the robotic tool based on a force imparted on the controller and measured by the load cell.