Dual multi-axial force and torque sensors in robotic surgical systems

By installing multi-axis force and torque sensors on the robotic arm and cannula, and performing reference frame alignment and subtraction calculations, the problem of inaccurate measurement of force and torque at the end of robotic surgical instruments was solved, achieving precise control of minimally invasive surgery and robustness of the sensors.

CN122350880APending Publication Date: 2026-07-10AOTENG IND AUTOMATION (LANGFANG) CO LTD
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Patent Information

Application Number
CN202610035780.6
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Priority Date
2026-01-06
Filing Date
2026-01-12
Publication Date
2026-07-10

AI Technical Summary

Technical Problem

In existing technologies, the force and torque measurements at the end of robotic surgical instruments are inaccurate, making it difficult to achieve precise control in minimally invasive surgery. Furthermore, the challenges of miniaturization and durability of sensors have not been effectively addressed.

Method used

Employing a dual-multi-axis force and torque sensor system, force and torque are measured by sensors on the robotic arm and cannula, respectively. The processing circuit performs reference frame alignment and subtraction calculations to eliminate the influence between the cannula and the patient's skin, accurately measuring the actual force and torque of the surgical instruments.

Benefits of technology

It enables precise measurement and control of the force at the end of surgical instruments, improving the accuracy and safety of minimally invasive surgery, reducing the cost and complexity of sensors, and enhancing the robustness and reliability of surgical instruments.

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Abstract

A robotic system for minimally invasive surgery includes a robotic arm having a robotic F / T sensor and a surgical instrument attached thereto. The surgical instrument is disposed within a body cavity of a patient through a trocar having a trocar F / T sensor integrated therein. The output of the trocar F / T sensor is subtracted from the output of the robotic F / T sensor (and vice versa) to eliminate the effect of the force or torque between the trocar and the patient's skin, obtaining only the force or torque applied to the surgical instrument. To perform this subtraction, the reference frames of the two F / T sensors are first aligned. For example, the position of the surgical instrument tip may be measured or estimated, and the corrected force or torque may similarly be converted to the reference frame of the surgical instrument tip.
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