Visual Force Feedback in Robotic Surgical End Effectors
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Solution Overview
Problem
Minimally invasive robotic surgical systems lack effective visualization of force applied to end effectors, making it difficult for surgeons to intuitively understand the forces exerted during procedures, which can impact precision and control.
Innovation Solution
A method and system that visually represent force information by displaying the actual position of an end effector under applied force alongside a projected position without force, providing a visual offset to indicate the force applied, and also displaying tissue deformation using color variations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If conventional haptic feedback systems are used to provide force information to the surgeon, then the surgeon can feel force through the master manipulator, but the surgeon cannot visually understand the magnitude and direction of forces applied to the end effector
Solution Approach 1:
The patent introduces an intermediary computational model that simulates tissue mechanics and predicts end effector position under zero-force conditions. This mediator translates complex force sensor data into intuitive visual representations showing the offset between actual and projected positions, allowing surgeons to visually perceive force magnitude and direction without adding physical complexity to the surgical system.
Solution Approach 2:
The patent replaces the limitation of purely haptic feedback with a visual information system. Instead of relying solely on tactile sensation through the master manipulator, the system substitutes mechanical force feedback with optical visualization through display screens, enabling surgeons to see force information in addition to feeling it, thereby reducing information loss.
2Ease of operation
If the end effector is manipulated remotely through a master manipulator, then minimally invasive surgery can be performed, but the surgeon loses direct tactile feedback and intuitive understanding of applied forces
Solution Approach 1:
The patent implements a visual feedback loop where force sensors at the end effector continuously measure applied forces, the computational model processes this data to calculate the offset between actual and projected positions, and the display system presents this information to the surgeon in real-time. This closed-loop feedback restores intuitive force control by showing surgeons the magnitude and direction of forces they are applying, even though manipulation is performed remotely.
3Measurement precision
If force sensors are installed at the end effector to measure applied forces, then force information can be obtained, but the system becomes more complex and the force information is not intuitively visualized
Solution Approach 1:
The patent creates a virtual copy of the end effector's behavior through computational modeling. Instead of directly displaying complex sensor data, the system generates a projected position image that replicates what the end effector position would be under zero-force conditions. This visual copy allows surgeons to intuitively understand force measurements without increasing physical system complexity, as the computational model processes sensor data offline.
4Loss of information
If visual display of force information is implemented through offset between actual and projected position images, then surgeons can intuitively understand applied forces, but additional computational processing is required
Solution Approach 1:
The patent transforms force measurement parameters into positional offset parameters through computational modeling. By changing the representation from force magnitude/direction to position offset between actual and projected images, the system makes force information more直观ly understandable to surgeons. This parameter transformation requires computational processing but uses efficient algorithms that balance information quality with processing power requirements.
Data Source
AI summary
Methods of and a system for providing a visual representation of force information in a robotic surgical system. A real position of a surgical end effector is determined. A projected position of the surgical end effector if no force were applied against the end effector is also determined. Images representing the real and projected positions are output superimposed on a display. The offset between the two images provides a visual indication of a force applied to the end effector or to the kinematic chain that supports the end effector. In addition, tissue deformation information is determined and displayed.