Hydraulic Robotic Forceps Force Feedback for Remote Tissue Gripping
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Solution Overview
Problem
It is difficult for doctors operating robotic forceps to determine the gripping force when the gripper engages with a patient's tissue, especially in remote-controlled systems with built-in motors.
Innovation Solution
A hydraulic forceps system that includes a first and second piston within cylinders, a pressure sensor to detect hydraulic fluid pressure, a control device to calculate gripping force using an observer for estimated piston position and pressure data, and a monitor to display the force, along with an alarm for threshold exceedance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If robotic forceps are operated manually with built-in motors for remote control, then automation and precision are improved, but the doctor cannot directly sense the gripping force applied to the patient's tissue
Solution Approach 1:
The patent implements a feedback mechanism by installing a pressure sensor within the hydraulic system of the robotic forceps. The sensor detects the actual gripping force applied to the patient's tissue and transmits this information back to the control system, allowing the doctor to monitor and adjust the force in real-time. This resolves the information loss problem by providing direct force feedback despite the remote control setup.
Solution Approach 2:
The pressure sensor acts as an intermediary element between the hydraulic system and the control system. It converts the mechanical gripping force into an electrical signal that can be processed and displayed to the operator, enabling indirect sensing of force in the remote-controlled robotic system.
2Measurement precision
If a position sensor is installed at the distal end portions of the robotic forceps to measure gripping force, then measurement precision is improved, but device complexity and surgical invasiveness increase
Solution Approach 1:
The patent extracts the measurement function from the distal end of the forceps and relocates it to the hydraulic system. By measuring the hydraulic pressure that drives the gripping mechanism, the system obtains gripping force information without requiring physical sensors at the distal tip, thereby reducing device complexity and surgical invasiveness.
Solution Approach 2:
The hydraulic system serves multiple functions: it provides the driving force for the gripper and simultaneously acts as the measurement medium. The pressure sensor leverages the existing hydraulic fluid pressure to determine gripping force, eliminating the need for separate measurement components at the distal end.
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 real-time display of the gripping force to the operator, accounting for piston position and orientation, and alerts the doctor when the force reaches a dangerous level, enhancing safety and precision during surgeries.
Implementation Method 1
robotic forceps whose gripper is opened and closed by utilizing hydraulic pressure of a hydraulic fluid
Implementation Method 2
a pressure sensor that detects a pressure of the hydraulic fluid
Data Source
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AI summary
A hydraulic forceps system includes: robotic forceps whose gripper is opened and closed by utilizing hydraulic pressure of a hydraulic fluid; a pressure sensor that detects a pressure of the hydraulic fluid; and a control device that calculates a current gripping force of the gripper based on the pressure of the hydraulic fluid detected by the pressure sensor; and a monitor that displays the current gripping force.