Hydraulic Robotic Forceps Gripping Force Feedback
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Solution Overview
Problem
It is difficult for doctors operating robotic forceps to determine the gripping force of the gripper, especially when the forceps are equipped with a built-in motor and operated remotely, as there is no clear indication of the gripping force applied to a patient's affected area.
Innovation Solution
A hydraulic forceps system that includes a pressure sensor to detect hydraulic fluid pressure, a control device to calculate the current gripping force, and a monitor to display this force, allowing the doctor to visualize the gripping force alongside an internal patient image, with optional features like position sensors and friction force calculations to refine the gripping force estimation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If robotic forceps are operated remotely with built-in motor, then automation and ease of operation are improved, but the doctor cannot know the gripping force applied to the patient
Solution Approach 1:
The patent implements feedback by installing a pressure sensor in the hydraulic fluid passage to detect the pressure of the hydraulic fluid. The control device calculates the gripping force based on this pressure detection and displays it on a monitor, providing real-time feedback to the doctor about the gripping force applied by the gripper during remote operation.
Solution Approach 2:
The patent uses hydraulic fluid pressure as an intermediary to transmit the gripping force information. The pressure sensor detects the hydraulic fluid pressure, which serves as a mediator to convey the gripping force information from the gripper to the control device for calculation and display, enabling the doctor to know the gripping force without direct mechanical connection.
2Measurement precision
If a position sensor is installed at the distal end portions of robotic forceps, then gripping force calculation accuracy is improved, but device complexity and installation difficulty increase
Solution Approach 1:
The patent extracts the position sensor from the distal end portions of the robotic forceps and relocates it to the proximal end where the second piston is positioned. This allows the sensor to remain part of the measurement system while eliminating the complexity of installing sensors in the difficult-to-reach distal portions, thereby reducing device complexity while maintaining measurement capability.
Solution Approach 2:
The patent substitutes the direct mechanical measurement approach (installing position sensors at distal end portions) with a hydraulic pressure-based measurement approach. By measuring the hydraulic fluid pressure and using it to calculate gripping force, the system replaces complex mechanical sensor installation with a simpler hydraulic measurement system that achieves the same measurement objective.
3Ease of manufacture
If friction force of sealing member is neglected, then calculation simplicity is improved, but gripping force accuracy deteriorates
Solution Approach 1:
The patent changes the calculation parameters by incorporating the friction force of the sealing member as an additional parameter in the gripping force calculation. The control device calculates the friction force based on the position of the first piston and the pressure of the hydraulic fluid, then subtracts it from the theoretical gripping force to obtain the actual gripping force, thereby improving accuracy while maintaining calculation feasibility.
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 doctor, providing immediate feedback and preventing excessive force application, thus enhancing surgical precision and safety.
Implementation Method 1
a pressure sensor that detects a pressure of the hydraulic fluid
Implementation Method 2
robotic forceps whose gripper is opened and closed by utilizing hydraulic pressure of a hydraulic fluid
Data Source
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.