Multi-Axis Force Sensor Input Control for Robotic Surgery
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Solution Overview
Problem
Current surgical imaging systems are limited in their ability to recognize and convey concealed structures, physical contours, and dimensions within a three-dimensional space, and may fail to provide essential visualization data to clinicians during robotic surgeries, hindering decision-making and control of robotic systems.
Innovation Solution
A control system for surgical robots that includes a base, a central portion flexibly supported by the base, a wrist rotationally coupled to the central portion, multi-axis sensors to detect user input forces and motions, and a processor to provide output signals to the surgical robot, enabling precise control and feedback mechanisms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If traditional imaging systems are used to visualize the surgical site, then the system structure remains simple, but the ability to recognize concealed structures and convey three-dimensional information is insufficient
Solution Approach 1:
The patent combines multiple sensing modalities (force sensors, torque sensors, position sensors) into a unified control system that integrates tactile feedback with visual information, creating a composite sensing system that compensates for the limitations of traditional imaging alone
Solution Approach 2:
The control system acts as an intermediary between the surgeon's inputs and the robotic surgical instrument, translating physical forces and torques applied by the surgeon into precise robotic movements while providing augmented visualization data about concealed structures
2Measurement precision
If multiple sensors are integrated to detect user input forces and motions, then the measurement precision and control accuracy improve, but the device complexity increases
Solution Approach 1:
The control system is designed to handle multiple types of sensor inputs (force, torque, position) through a unified processing architecture, allowing the same system to perform various measurement functions without requiring separate dedicated systems for each sensing modality
Solution Approach 2:
The system automatically processes and integrates data from multiple sensors, with the control unit autonomously combining force sensor data, torque sensor data, and position sensor data to generate comprehensive control signals without requiring manual intervention
3Manufacturing precision
If the control system provides detailed visualization data and precise control, then the surgical precision and safety improve, but the information processing requirements and system complexity increase
Solution Approach 1:
The system implements closed-loop feedback by continuously monitoring sensor inputs (forces, torques, positions) and adjusting robotic instrument movements in real-time based on this feedback, enabling precise control while maintaining manageable system complexity through iterative correction rather than overly complex open-loop control
Data Source
AI summary
An input control device is disclosed. The input control device includes a central portion coupled to a multi-axis force and torque sensor, which is configured to receive input control motions from a surgeon. The central portion is flexibly supported on a base. The input control device also includes a rotary joint coupled to a rotary sensor. The input control device is configured to provide control motions to a robotic arm and/or a robotic tool based on input controls detected by the multi-axis force and torque sensor and the rotary sensor.