Forceps Unit with Optical Fiber Sensing for 5-Axis Force Measurement
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Solution Overview
Problem
In ultra-micro surgery, existing robotic surgical instruments lack the precision to accurately measure minute forces applied during procedures like needle penetration, which can lead to tissue damage due to the surgeon's reliance on visual cues alone.
Innovation Solution
A forceps unit and apparatus utilizing a configuration of optical fibers to measure 5-axis forces, compensating for temperature changes, allowing for precise force measurement by connecting a base portion to a motor and a grasping portion with optical fibers fixed to both, enabling accurate force application and feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If optical fibers are used to measure forces in ultra-micro surgery, then measurement precision is improved, but device complexity increases due to temperature compensation requirements
Solution Approach 1:
The forceps is divided into multiple sections with optical fibers embedded in each section. Each section independently measures local forces and temperatures, allowing distributed measurement that improves precision without requiring a single complex measurement system. The segmentation enables modular temperature compensation across different regions of the forceps.
Solution Approach 2:
Optical fibers serve as intermediary elements that simultaneously measure both force and temperature. By using the same optical fiber infrastructure for both measurements, the system achieves multi-parameter monitoring without proportionally increasing device complexity. The optical fibers mediate between the physical quantities being measured and the detection system.
2Manufacturing precision
If multiple optical fibers are embedded in the forceps structure, then force measurement accuracy is improved, but manufacturing complexity increases
Solution Approach 1:
The optical fibers are designed to perform multiple functions: measuring force through Brillouin scattering and measuring temperature through the same mechanism. This multi-functionality reduces the need for separate sensor systems, simplifying the overall manufacturing process while maintaining high measurement accuracy for both parameters.
Solution Approach 2:
The system utilizes changes in Brillouin frequency and intensity of optical fibers in response to force and temperature variations. By measuring parameter changes in the optical fibers rather than requiring separate physical sensors, the manufacturing process is simplified while achieving high precision in force and temperature measurement.
3Reliability
If temperature compensation is implemented, then reliability of force measurement is improved, but device complexity increases
Solution Approach 1:
Temperature compensation is merged with the force measurement system by using the same optical fiber infrastructure for both measurements. The Brillouin scattering technique simultaneously provides both temperature and force information, eliminating the need for separate temperature sensors and their associated compensation mechanisms, thereby improving reliability without proportionally increasing device complexity.
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 measurement and compensation of 5-axis forces, enhancing the accuracy and reliability of surgical procedures by accounting for temperature-induced errors, thereby reducing tissue damage and improving surgical outcomes.
Implementation Method 1
a plurality of optical fibers, some of the plurality of optical fibers being fixed to the grasping portion and others of the plurality of optical fibers being fixed to the base portion
Implementation Method 2
capable of precisely measuring 5-axis forces by compensating for the effect of temperature change
Data Source
AI summary
A forceps unit and a forceps apparatus are provided. The forceps unit according to an aspect of the present disclosure may comprise a base portion connected to a motor; a grasping portion disposed in front of the base portion and grasping a surgical instrument; a connecting portion connecting the base portion and the grasping portion; and a plurality of optical fibers, wherein some of the plurality of optical fibers are fixed to the grasping portion and others of the plurality of optical fibers are fixed to the base portion, wherein the plurality of optical fibers may include a first optical fiber disposed in a central region of the grasping portion and second to fifth optical fibers radially disposed with respect to the first optical fiber, and the first optical fiber may protrude further forward than the second to fifth optical fibers.