Fiber Bragg Grating Accelerometer for Surgical Haptic Feedback
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Solution Overview
Problem
Existing surgical instruments lack effective means to measure high-frequency mechanical interactions within the confined and challenging environment of a surgical site, as conventional accelerometers like MEMS are external and unable to provide precise feedback on high-frequency content.
Innovation Solution
Integration of a Fiber Bragg Grating accelerometer within the surgical instrument's distal portion, utilizing a cantilever beam and optic fiber with a Fiber Bragg Grating to measure accelerations and provide vibro-tactile feedback, allowing for high-frequency content detection and filtering to enhance surgical precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional MEMS accelerometers are used externally on surgical instruments, then the device complexity is reduced and ease of manufacture is improved, but measurement precision of high-frequency mechanical interactions deteriorates
Solution Approach 1:
The patent replaces conventional MEMS accelerometers with a fiber optic-based accelerometer that uses optical fibers and Fiber Bragg Gratings (FBGs) to detect mechanical interactions. This substitution of mechanical sensing elements with optical elements enables high-frequency content detection while maintaining compatibility with surgical instrument constraints.
Solution Approach 2:
The accelerometer is integrated within the confined space of the surgical instrument's distal portion, nesting the sensing elements (cantilever beam, optic fiber, FBGs) inside the existing instrument structure. This nesting approach provides precise measurements without adding external components.
2Measurement precision
If an accelerometer is integrated within the confined space of the surgical instrument, then measurement precision is improved, but the volume of the surgical instrument increases
Solution Approach 1:
The accelerometer components are nested within the existing surgical instrument structure. The cantilever beam is positioned within the distal portion, the optic fiber is routed through the instrument, and FBGs are attached to the cantilever beam, all fitting within the confined space without significant volume addition.
Solution Approach 2:
The use of thin optic fibers and flexible cantilever beams allows the accelerometer to occupy minimal space within the surgical instrument. The fiber optic cable and thin-film FBGs enable high-precision sensing with negligible volume increase.
3Measurement precision
If Fiber Bragg Grating accelerometers are integrated into the surgical instrument, then measurement precision of high-frequency content is improved, but ease of operation deteriorates due to filtering requirements
Solution Approach 1:
The system implements vibro-tactile feedback that delivers real-time information about high-frequency mechanical interactions directly to the surgeon's hands. This feedback mechanism compensates for the filtering requirements by providing intuitive tactile cues that enhance ease of operation while maintaining measurement precision.
4Measurement precision
If the accelerometer measures high-frequency interactions, then measurement precision is improved, but loss of information increases due to filtering
Solution Approach 1:
The vibro-tactile feedback system preserves high-frequency information by delivering it directly to the surgeon through tactile cues, bypassing the need for electronic filtering that would otherwise cause information loss. The feedback mechanism captures and communicates the full frequency spectrum of mechanical interactions.
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
Enables precise feedback of high-frequency interactions to the surgeon, improving surgical precision and dexterity by providing accurate vibro-tactile and audible signals, enhancing the ability to perform complex procedures like suturing and tissue manipulation.
Implementation Method 1
Fiber Bragg Grating accelerometer... utilize Fiber Bragg Grating... FBGs 102A, 102B are located along the measurement axis of accelerometer 100
Implementation Method 2
a cantilever beam and an optic fiber. The optic fiber includes a Fiber Bragg Grating, and the optic fiber is affixed to the cantilever beam
Implementation Method 3
The inertial reaction of mass 101 to a shock causes FBGs 102A and 102B to stretch or un-stretch in response to accelerations of the mass
Data Source
AI summary
An accelerometer is included within the confined space and limited volume of a distal portion of a surgical instrument. The surgical instrument includes an end component, a joint coupled to the end component, a shaft coupled to the joint, and a force transducer and accelerometer apparatus. The force transducer and accelerometer apparatus is coupled between the joint and the shaft. The force transducer and accelerometer apparatus includes a force sensor and an accelerometer. The accelerometer includes an optic fiber having a Fiber Bragg Grating. Information acquired from the Fiber Bragg Grating is used to drive a vibro-tactile haptic feedback output device coupled to a master control arm surgeon grip.