Force Sensing Apparatus for Surgical Robots
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Solution Overview
Problem
Surgical robots lack precise force feedback and control, particularly in remote surgeries, making it difficult to accurately manipulate surgical tools and verify the forces applied to tissues during procedures.
Innovation Solution
A force sensing apparatus with support frames, sensing units, and a processor that senses compressive and tensile strains to determine the direction and magnitude of forces applied, enabling precise control and feedback of surgical instruments, including graspers, to ensure accurate force application and grip verification.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If surgical robots are used for remote surgery, then surgery can be performed remotely with reduced hand shaking, but precise force feedback and control are lost
Solution Approach 1:
The patent implements force sensing units that detect forces applied to surgical instruments and transmit this feedback information to the control system. This allows the surgeon to perceive the force applied to tissues during remote surgery, resolving the contradiction by providing precise force feedback while maintaining remote operation capability.
Solution Approach 2:
The patent replaces direct mechanical force transmission with an electronic sensing and signal transmission system. Force sensing units convert mechanical forces into electrical signals that can be transmitted remotely, enabling force feedback without direct mechanical connection between the surgeon and the surgical site.
2Measurement precision
If force sensing units are added to surgical robots, then force feedback is improved, but device complexity increases
Solution Approach 1:
The patent integrates force sensing units into existing surgical instrument components, allowing these units to serve multiple functions: detecting forces during surgery, providing feedback to the control system, and potentially guiding instrument operation. This multi-functionality reduces the need for separate dedicated force measurement systems.
Solution Approach 2:
The patent combines force sensing capabilities with the existing surgical instrument structure by integrating force sensing units directly into the instruments. This merging of functions reduces overall system complexity compared to having separate force measurement and control systems.
3Measurement precision
If multiple sensing units are deployed to detect forces in different directions, then force measurement accuracy is improved, but the number of components increases
Solution Approach 1:
The patent divides the force detection function into multiple sensing units, each responsible for detecting forces in specific directions or at specific locations. This segmentation allows the system to achieve comprehensive force measurement capability by combining information from individual sensing units, improving accuracy while managing component quantity through functional division.
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 apparatus provides accurate and minute control over surgical instruments, enhancing the precision and safety of surgical procedures by allowing real-time verification of forces applied to tissues, reducing the risk of human error and improving remote surgery capabilities.
Implementation Method 1
n sensing units of a first group, each being fixed to the n support frames, respectively, to sense a compressive strain and a tensile strain of each of the n support frames
Data Source
AI summary
A force sensing apparatus and an operating method of the force sensing apparatus may obtain and provide information about a force applied to an object, thereby enabling control of a force to be applied to manipulate the object.