Virtual Feedback Mechanism for Haptic Devices
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Solution Overview
Problem
Existing haptic devices in medical and other complex systems face limitations in providing flexible and adjustable force feedback, especially with multiple degrees of freedom, as physical feedback mechanisms become complex and impractical, making it difficult to change reference points and feedback forces without mechanical modifications.
Innovation Solution
The implementation of virtual feedback mechanisms using haptic input devices with processors and sensors, which select and configure virtual feedback models to determine feedback levels and send commands to actuators, allowing for flexible and adjustable force feedback without physical constraints, enabling easier adaptation to various displacements and motions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If physical feedback mechanisms are used in haptic devices, then force feedback can be provided, but the device complexity increases and mechanical modifications are required to change reference points and feedback forces
Solution Approach 1:
The patent replaces physical feedback mechanisms with a virtual feedback model implemented through software. The control system uses sensors to detect input device position and calculates feedback forces mathematically based on virtual spring constants and reference points, eliminating the need for complex mechanical feedback components while maintaining force feedback functionality
Solution Approach 2:
The patent enables dynamic adjustment of feedback parameters (spring constants, reference points, feedback forces) through software configuration rather than mechanical modifications. This allows the same physical device to adapt to different surgical procedures and preferences by changing virtual parameters without requiring physical reconfiguration
2Reliability
If physical feedback mechanisms are used, then force feedback is provided, but adaptability to various displacements and motions decreases
Solution Approach 1:
The patent implements dynamic virtual feedback models that can adapt in real-time during operation. The system continuously calculates feedback forces based on current input device position, selected virtual spring constants, and reference points, allowing the feedback characteristics to change dynamically without mechanical reconfiguration
Solution Approach 2:
The patent creates a universal feedback system where a single physical haptic device can provide multiple feedback characteristics through software configuration. Different virtual spring constants and reference points enable the same device to adapt to various surgical procedures, input device types, and operator preferences without requiring physical modifications
Data Source
AI summary
Systems and methods of virtual feedback include a virtual feedback device virtually coupled between a first and second device and a control unit. The control unit is configured to select a virtual feedback model (VFM) for the virtual feedback device from among a plurality of VFMs; configure the VFM; determine, based on information from one or more first sensors for detecting information related to a position of the first device and one or more second sensors for detecting information related to a position of the second device, a relative displacement between the first second devices; determine, based on the relative displacement and the VFM, a feedback level; send feedback commands, based on the feedback level, to one or more first actuators for inducing feedback on the first device and to one or more second actuators for inducing feedback on the second device.