VR Surgical Tool Haptic Feedback via Friction and Segmentation
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Solution Overview
Problem
Current virtual reality surgical simulators lack realistic haptic feedback, particularly when simulating interactions between multiple surgical instruments, which limits the training experience for surgeons.
Innovation Solution
A virtual reality surgical system with a tool assembly, elongated member position and force feedback assemblies, and robotic arms that provide haptic feedback through frictional forces, allowing for realistic simulation of surgical procedures in a virtual environment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple surgical instruments are simulated in the VR system, then the training realism is improved, but the calculation complexity increases due to force interactions between instruments
Solution Approach 1:
The system segments the haptic feedback calculation by treating each surgical instrument independently. The haptic feedback for each instrument is calculated based on its own interaction with patient anatomy, rather than calculating complex multi-instrument force interactions. This allows multiple instruments to be simulated without exponentially increasing computational complexity.
2Reliability
If haptic feedback is provided for each surgical instrument, then the training effectiveness is improved, but the system complexity increases
Solution Approach 1:
The system uses virtual copies of surgical instruments in the VR environment that mirror the physical instrument's position and orientation. Haptic feedback is applied to the physical instrument based on the virtual instrument's interaction with virtual patient anatomy. This copying approach allows realistic haptic feedback without requiring complex multi-instrument force calculations.
3Ease of manufacture
If frictional force is applied to the elongated member, then the haptic feedback realism is improved, but the mechanical complexity of the feedback assembly increases
Solution Approach 1:
The system replaces complex mechanical haptic feedback mechanisms with a simpler friction-based approach. Instead of using sophisticated force actuators or motors, the invention uses a friction assembly that applies frictional force to the elongated member to simulate tissue resistance. This substitution maintains haptic realism while reducing mechanical complexity.
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 enhances the realism of surgical training by providing accurate haptic feedback, enabling users to experience the resistance and orientation of surgical instruments in a virtual operating room, improving the training effectiveness.
Implementation Method 1
the elongated member force feedback assembly being configured to receive a control signal from the computing unit causing the elongated member force feedback assembly to apply a frictional force on the elongated member to provide haptic feedback to the user
Implementation Method 2
the elongated member position sensor assembly comprises an optical sensor to detect lateral and axial movement of the elongated member
Data Source
AI summary
Virtual reality (VR) surgical systems with haptic feedback are described herein that can be used to simulate several instruments and surgeries. The instruments can include a tool assembly; first and second brackets each having first shafts that are rotatably coupled at first and second end regions of the tool assembly and second shafts that are rotatably coupled to first and second robotic arms; a surgical tool assembly coupled to an end portion of the tool assembly and having an elongated member that extends within the tool assembly; an elongated member position sensor assembly configured to provide position information of a position of the elongated member to a computing unit; and an elongated member force feedback assembly housed within the cavity and coupled to the elongated member. The elongated member force feedback assembly is configured to provide haptic feedback to the user of the instrument.