Wearable Hand Controller With Pivoted Support for Surgical Dexterity
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Solution Overview
Problem
Existing user input devices for surgical robotic systems suffer from limitations such as complex linkage systems that cause singularities, reduced dexterity, and user fatigue, leading to impaired precision and control.
Innovation Solution
A wearable user interface device (UID) with a trackable device body and a pivoted support system that maintains a center of rotation within the user's hand motion, allowing for high dexterity and natural feel through orthogonal axes intersecting at a center of rotation, reducing the likelihood of singularities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a linkage system with four degrees of freedom is used in existing hand controllers, then singularities are avoided in movement, but the system becomes complex and binding occurs when axes align
Solution Approach 1:
The patent extracts the complex four-degree-of-freedom linkage system from the hand controller design. Instead of using a mechanical linkage system, the invention employs a wearable device with electromagnetic tracking that directly measures hand position and orientation without mechanical intermediaries, thereby eliminating the complexity and singularity issues inherent in traditional linkage systems
Solution Approach 2:
The patent replaces the mechanical linkage system with an electromagnetic tracking system. The hand controller uses electromagnetic sensors to track the position and orientation of the device in three-dimensional space, substituting mechanical degrees of freedom with electromagnetic field-based measurement, which eliminates mechanical binding and complexity
2Adaptability or versatility
If a complex linkage system is used in existing hand controllers, then movement coverage is expanded, but dexterity and precision of finger manipulation are reduced
Solution Approach 1:
The patent replaces the mechanical linkage system with an electromagnetic tracking system that uses electromagnetic fields to measure hand position and orientation. This substitution allows for more precise measurement of finger movements because electromagnetic tracking can detect subtle changes in position and orientation without the mechanical play and friction inherent in linkage systems
Solution Approach 2:
The wearable hand controller serves multiple functions through a single integrated device. It tracks position, orientation, and finger movements simultaneously using electromagnetic sensors, eliminating the need for separate mechanical systems for each degree of freedom while maintaining comprehensive movement coverage
3Ease of operation
If existing hand controllers are used, then control commands can be generated, but user fatigue increases and natural feel is reduced
Solution Approach 1:
The patent replaces heavy mechanical linkage systems with lightweight electromagnetic tracking components. This substitution significantly reduces the weight of the hand controller, allowing users to wear it for extended periods without fatigue while maintaining full control functionality
Solution Approach 2:
The hand controller is designed as a segmented wearable device that distributes weight and sensing elements across different parts of the hand. This segmentation allows for better weight distribution and reduces strain on any single area, improving user endurance during prolonged surgical procedures
Data Source
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AI summary
Wearable user interface devices are described. A wearable user interface device can include a wearable base connected to a trackable device component by a linkage. The linkage can connect to a pivoted support that the trackable device is mounted on, and which maintains poses when the user interface device is not manipulated by a user's hand. The pivoted support has several orthogonal axes intersecting at a center of rotation located inside a device body of the trackable device. Other embodiments are also described and claimed.