Load Cell Integration in Robotic Arm for Force Sensing

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Solution Overview

Problem

Surgical robotic systems lack the ability to effectively measure and respond to forces applied during medical procedures, which can lead to unsafe interactions with patients and equipment.

Innovation Solution

Incorporating a load cell within the robotic arm to detect forces and moments on the distal portion, allowing for real-time sensing and measurement of interaction forces, and enabling the robotic arm to respond by limiting applied forces and preventing harm.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If a load cell is integrated into the robotic arm to detect forces, then the ability to sense interaction forces is improved, but the device complexity increases

Engineering Contradiction:

Improveforce sensing capabilityVSAvoidrobotic arm structure

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The load cell is integrated directly into the robotic arm structure, merging the force sensing function with the mechanical support structure. This eliminates the need for separate external force sensors and reduces overall system complexity despite adding sensing capability.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The load cell serves multiple functions: it supports the distal portion of the robotic arm structurally while simultaneously detecting forces and moments applied to the tool driver. This multi-functionality reduces the need for additional components.

Inventive Principle:

Principle #6Universality (Multi-functionality)

2Measurement precision

If the load cell is positioned to support the distal portion and tool driver, then force detection accuracy is improved, but the weight of the robotic arm increases

Engineering Contradiction:

Improveforce measurement accuracyVSAvoidrobotic arm weight

Core Design Contradiction:

Measurement precisionVSWeight of moving object

Solution Approach 1:

The load cell acts as an intermediary component positioned between the proximal and distal portions of the robotic arm. It provides a dedicated force transmission path that isolates the measurement function from the overall arm structure, improving accuracy without proportionally increasing total weight.

Inventive Principle:

Principle #24Intermediary (Mediator)

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 integration of a load cell enhances user control and safety by allowing the robotic arm to directly sense interaction forces, preventing excessive force application, and ensuring safe operation during medical procedures.

Implementation Method 1

A load cell can be positioned between the proximal portion and the distal portion such that the load cell supports the distal portion and the tool driver. The load cell is configured to detect forces that interact with the distal portion of the tool driver.

Methodology Applied

Scientific EffectDeformation: Deformation

Data Source

PatentUS12310682B2Systems and methods for mounting robotic components on a load cell

Publication Date: 2025.05.27 AURIS HEALTH INC

AI summary

Certain aspects relate to a robotic surgery system, including a robotic arm with a base, a proximal portion and a distal portion. A tool driver is detachably coupled to a medical instrument and the tool driver is coupled with the distal portion of the robotic arm. A load cell is positioned between the proximal portion and the distal portion such that the load cell supports the distal portion and the tool driver. The load cell is configured to detect forces that interact with the distal portion or the tool driver to enhance user control of the robotic arm and/or the safe operation of the robotic arm.