Wearable Master Controller for Stable Robotic Teleoperation
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Solution Overview
Problem
Existing master controller devices for robotic surgical teleoperation that are not constrained to the operative console suffer from ergonomic issues, leading to poor precision, involuntary movements, and a risk of device fall during manipulation.
Innovation Solution
A master controller device with a wearable portion comprising a pair of wearable elements for a surgeon's fingers and a control gripper, featuring internal degrees of freedom that allow reorientation and repositioning of the wearable elements with respect to the control gripper, ensuring secure grip and improved ergonomics without transmitting unwanted commands to the slave device.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the master controller device is not constrained to the operative console, then the ease of operation is improved, but the reliability deteriorates due to the risk of involuntary movement or fall during use
Solution Approach 1:
The master controller device is divided into two functionally independent segments: a wearable portion with wearable elements that follow finger movements, and a sensed control gripper that transmits commands. The connection between them allows relative movement without command transmission, segmenting the control function from the wearable function to resolve the contradiction between ease of operation and reliability.
Solution Approach 2:
A sensor system acts as an intermediary between the wearable portion and the control gripper. The sensor detects the position and orientation of the control gripper independently of the wearable elements, mediating the transmission of control signals to ensure reliable operation even when the wearable portion moves freely with finger kinematics.
2Ease of operation
If the wearable portion allows free movement with finger kinematics, then the ease of operation is improved, but the measurement precision deteriorates due to unwanted position coordinates being transmitted
Solution Approach 1:
The device segments the wearable portion (with wearable elements) from the sensed control gripper, allowing independent movement of each segment. The wearable elements can follow finger kinematics freely while the control gripper maintains a separate, controlled position that is accurately sensed and transmitted to the slave device.
Solution Approach 2:
The sensor system serves as an intermediary that decouples the measurement function from the wearable portion. It measures the position and orientation of the control gripper independently, filtering out unwanted position coordinates generated by finger kinematics of the wearable elements.
3Manufacturing precision
If the wearable elements are rigidly fixed to the control gripper, then the manufacturing precision is improved, but the ease of operation deteriorates due to poor ergonomics and manipulation precision
Solution Approach 1:
The connection between the wearable elements and the control gripper is made dynamic rather than rigid. The wearable elements can move relative to the control gripper following finger kinematics, providing ergonomic adaptation to the surgeon's hand movements while maintaining controlled transmission of operational commands through the sensor system.
Data Source
AI summary
An unconstrained master controller device for a robotic system for medical or surgical teleoperation includes at least one wearable portion having a pair of wearable elements for the fingers of a surgeon and a control gripper for controlling at least one degree of freedom of a slave surgical instrument associable with the master controller device. The master controller device includes at least one internal degree of freedom of orientation which allows reorienting at least one wearable element of the pair.