System For Sensing a Mechanical Property of a Sample

Abstract

A sensing element for sensing a mechanical property of a sample defining a sample surface using a contact force exerted the sample surface. The sensing element includes: a deformable element defining a contact surface and a deformable section in register with the contact surface, the deformable section being deformable between an undeformed configuration and a deformed configuration; a deformation sensor operatively coupled to the deformable section for sensing and quantifying a deformation of the deformable section between the deformed and undeformed configurations, the deformation sensor being an optical deformation sensor; and a force sensor operatively coupled to the deformable element for sensing the contact force exerted on the contact surface.

Description

FIELD OF THE INVENTION[0001]The present invention relates to the art of sensors. More specifically, the present invention is concerned with systems for a mechanical property of a sample. In some embodiments of the invention, the system uses optical components for sensing the deformation of the sample in response to a force exerted thereonto, the force being also measured.BACKGROUND OF THE INVENTION[0002]In conventional surgery, surgeons use their fingers to measure the softness / hardness of tissues. Using this type of palpation, surgeons can investigate hidden anatomical features of tissues. They can also distinguish between different types of tissues. For example, they can identify abnormal tissues (such as tumorous lumps), blood vessels, ureters, and bony or fatty tissues. However, current commercially available minimally invasive robotic surgery (MIRS) systems do not provide tactile feedback from the interaction between surgical tools and tissues.[0003]Indeed, despite the superior...

AI Technical Summary

Benefits of technology

The invention provides a sensing element for sensing a mechanical property of a sample using a contact force exerted on the sample. The sensing element includes a deformation sensor and a deformable element. The deformation sensor is a deformation sensor interrupted optical waveguide that senses the deformation of the deformable element when a contact force is exerted on it. The deformation sensor is optically coupled to the deformable element, and the deformation sensor is secured to the deformable element with a deformation sensor waveguide. The deformation sensor is capable of sensing the contact force and quantifying the deformation of the deformable element. The invention provides a more accurate and efficient way to measure mechanical properties of samples.

Problems solved by technology

However, current commercially available minimally invasive robotic surgery (MIRS) systems do not provide tactile feedback from the interaction between surgical tools and tissues.

One of them is the lack of haptic feedback to surgeons.

For instance, visual force feedback results in reduced suture breakage, lower forces, and decreased force inconsistencies in the da Vinci™ surgical system.

That reduced force was not sustainable after removing the force feedback.

Therefore, performing tactile measurements with currently existing tactile sensors, which include electrical wires, are impossible in many MIRS operations.

Electrical wires included in the conventional sensors, such as piezoelectric sensors, usually induce eddy current fields which disturb the MRI images.

In other words, in MRI environment, the use of electronics is not practical.

Images