3D Force Sensing via Fluid Pressure Distribution
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Solution Overview
Problem
Current contact-force-sensing systems in minimally invasive surgery provide limited information, mainly focusing on force magnitude without directional data, which restricts their effectiveness in guiding surgical devices accurately and preventing tissue damage.
Innovation Solution
The development of contact-force-sensing systems that incorporate peripherally and centrally located pressure-sensor chambers, along with a force-receiving structure, to measure force magnitude and direction, enabling directional information and guiding functionality through pressure distribution and tactile feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a single contact-force-sensing system is used, then the device complexity is low, but the measurement precision is insufficient because it provides only a single data point without directional information
Solution Approach 1:
The force-sensing system is segmented into multiple pressure sensor chambers (first, second, third chambers) arranged at different orientations. Each chamber independently measures force components in specific directions, enabling comprehensive 3D force measurement while maintaining manageable system complexity through modular segmentation
Solution Approach 2:
The system transitions from single-point force measurement to three-dimensional force measurement by adding spatial dimensionality through multiple pressure sensor chambers oriented at different angles. This dimensional expansion captures force magnitude and direction information simultaneously, resolving the contradiction between measurement precision and device complexity
2Loss of information
If multiple pressure sensor chambers are used to provide directional information, then the measurement precision improves, but the device complexity increases due to multiple sensors and chambers
Solution Approach 1:
Each pressure sensor chamber serves multiple functions: measuring force magnitude in its specific direction, providing directional information, and contributing to the overall 3D force reconstruction. This multi-functionality reduces information loss while managing device complexity through efficient sensor utilization
Solution Approach 2:
The system recovers lost directional information by measuring pressure in three-dimensional space using multiple chambers oriented at different angles. This spatial dimensionality addition ensures complete force information capture without excessive complexity increase
3Measurement precision
If peripherally and centrally located pressure sensor chambers are used, then the measurement precision and directional information improve, but the device complexity and manufacturing difficulty increase
Solution Approach 1:
The sensing system is segmented into peripheral and central pressure sensor chambers with distinct functional roles. This segmentation enables specialized manufacturing approaches for each chamber type, improving measurement precision while managing manufacturing complexity through modular design
Solution Approach 2:
The system uses three-dimensionally arranged pressure sensor chambers (peripheral and central) to capture force information from multiple spatial perspectives. This dimensional arrangement provides comprehensive force measurement while allowing standardized manufacturing of repeated chamber units
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
These systems provide comprehensive force information, allowing for precise control and guidance of surgical devices, enhancing the accuracy and safety of minimally invasive procedures by determining force magnitude, plane, and off-plane angles, thereby preventing tissue damage and ensuring effective treatment outcomes.
Implementation Method 1
A pressure sensor can be located in, or associated with, each of the pressure-sensor chambers. The resulting pressures can be used to determine not only the magnitude of the force applied to the force-receiving structure, but the angle of the force as well.
Data Source
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AI summary
A force-measurement system (400) can include three or more fluid-filled pressure-sensor chambers (410) around a central rod (434). The force-receiving structure (430) can receive a force at a ball (432) and provide that force through the central rod (434) to a force-distribution structure (420). The force-distribution structure (420) can provide the force to the pressure-sensor chambers (410). These resulting pressures can be used to determine the magnitude, angle, plane angle, and off plane angle of the force received by ball (432).