FBG Force Sensor for Surgical End Effector Feedback
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Solution Overview
Problem
Minimally invasive teleoperated surgical systems lack natural force feedback, which is essential for precise surgical procedures, as surgeons rely on indirect manipulation of instruments, leading to reduced tactile cues and impaired kinesthetic feedback.
Innovation Solution
A force sensing device incorporating a fiber Bragg grating (FBG) optical fiber embedded within a flexible housing and cap, designed to fit snugly around a two-degree-of-freedom wrist and end effector of surgical instruments, providing accurate force feedback through optical signals.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If teleoperated surgical systems are used to perform minimally invasive surgery, then surgical precision and reduced tissue damage are improved, but natural force feedback and tactile cues are lost
Solution Approach 1:
The patent replaces traditional mechanical force feedback mechanisms with an optical sensing system using Fiber Bragg Grating (FBG) technology. The FBG sensors embedded in the end effector detect forces through optical wavelength shifts, substituting mechanical transmission with optical measurement to restore force feedback in teleoperated systems
Solution Approach 2:
The patent introduces FBG optical fibers as intermediary elements between the surgical instrument and the surgeon's control system. These optical fibers act as mediators that transmit force information from the tissue-contacting end effector back to the surgeon, enabling indirect tactile perception without direct mechanical coupling
2Measurement precision
If FBG optical fiber sensors are embedded within the end effector, then force feedback accuracy is improved, but device complexity increases
Solution Approach 1:
The patent merges the sensing function directly into the end effector structure by embedding FBG optical fibers within the instrument housing and cap. This integration combines the structural and sensing functions into a single unified component, reducing overall system complexity despite the advanced sensing capability
Solution Approach 2:
The FBG optical fibers are configured to be self-sensing, utilizing the inherent properties of the optical fiber material to detect forces without requiring additional transducers or conversion mechanisms. The optical fiber structure itself serves as the sensing element, eliminating the need for separate sensing components
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
The FBG force sensor device effectively transmits tissue forces to the surgeon, enhancing telepresence and precision during minimally invasive procedures by providing reliable force feedback, thereby improving surgical performance and reducing the risk of errors.
Implementation Method 1
A first fiber Bragg grating (FBG) is formed in the segment of the optical fiber embedded within the cap
Data Source
AI summary
A force sensing device is provided for use with a surgical instrument shaft having a two degree-of-freedom wrist mounted end effector portion having a working surface; a housing defines an annular collar sized to snugly fit about the two degree-of-freedom wrist and defines a cap sized to snugly fit about the end effector portion; an optical fiber including a segment is embedded within the annular collar and including a segment embedded within the cap; a first fiber Bragg grating (FBG) formed in the segment of the optical fiber embedded within the cap.