Master Grip Shear Feedback for Teleoperated Surgical Force Sensing

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Solution Overview

Problem

Teleoperated surgical systems lack effective force feedback mechanisms, which results in the surgeon losing tactile cues and natural force feedback, compromising the precision and control during minimally invasive procedures.

Innovation Solution

A teleoperated surgical system with a surgical instrument featuring a sensor to sense the grip force between jaws and a master controller that provides feedback force based on this grip force, using a gimbal mechanism to translate the grip force into tactile feedback for the surgeon.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Duration of action of moving object

If teleoperated surgical systems use robotic technology to perform minimally invasive procedures, then patient recovery time and discomfort are reduced, but the surgeon loses tactile cues and natural force feedback

Engineering Contradiction:

Improvepatient recovery timeVSAvoidtactile cues

Core Design Contradiction:

Duration of action of moving objectVSLoss of information

Solution Approach 1:

The system implements force feedback mechanisms that measure or estimate forces applied to the patient by the surgical instrument and transmit this information back to the surgeon through the master controller, restoring tactile cues that were lost in traditional teleoperation systems

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The patent replaces direct mechanical manipulation with robotic actuators while substituting the lost mechanical feedback through electronic sensors and feedback generators that create haptic sensations in the master controller

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Adaptability or versatility

If teleoperated surgical systems eliminate direct manipulation to enable remote surgery, then surgical collaboration over long distances is achieved, but force feedback is largely eliminated

Engineering Contradiction:

Improvesurgical collaboration capabilityVSAvoidforce feedback

Core Design Contradiction:

Adaptability or versatilityVSForce

Solution Approach 1:

The master controller serves as an intermediary device that the surgeon manipulates directly, providing a mechanical interface that transmits both control commands to the robotic instrument and force feedback from the instrument back to the surgeon's hands

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

Force sensors in the robotic instrument measure interaction forces with tissue, and feedback generators in the master controller convert these measurements into haptic forces that the surgeon feels, restoring natural force feedback despite remote operation

Inventive Principle:

Principle #23Feedback

3Force

If the surgeon manipulates the instrument directly in manual surgery, then natural force feedback is maintained, but tissue damage and invasiveness increase

Engineering Contradiction:

Improveforce feedbackVSAvoidtissue damage

Core Design Contradiction:

ForceVSObject-affected harmful factors

Solution Approach 1:

The patent replaces direct manual manipulation with robotic instruments that can be controlled remotely, reducing the invasiveness of surgical access while maintaining force feedback through sensors and feedback generators

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

4Length of moving object

If teleoperated systems use long shafts to reach surgical sites, then minimally invasive access is achieved, but tactile cues are eliminated

Engineering Contradiction:

Improveinstrument shaft lengthVSAvoidtactile cues

Core Design Contradiction:

Length of moving objectVSLoss of information

Solution Approach 1:

Force sensors located at the distal end of the long instrument shaft measure interaction forces with tissue, and this force information is transmitted through the system to feedback generators that provide haptic feedback to the surgeon at the master controller

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The master controller acts as an intermediary that provides a short, manipulable interface for the surgeon, replacing the long instrument shaft as the direct interaction point while maintaining force feedback through electronic transmission

Inventive Principle:

Principle #24Intermediary (Mediator)

Data Source

PatentEP3691555B1End effector force feedback to master controller

Publication Date: 2026.02.18 INTUITIVE SURGICAL OPERATIONS INC

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AI summary

A teleoperated surgical system is provided that includes a surgical instrument that includes an end effector mounted for rotation about a slave pivot axis; a master control input includes a mount member, first and second master grip rotatably secured at the mount member for rotation about a master pivot axis; sensor to produce a sensor signal indicative of a slave grip counter-force about the slave pivot axis; one or more motors to impart a shear force to the mount member, perpendicular to the master pivot axis; one or more processors to convert the sensor signal to motor control signals to cause the motors to impart the feedback shear force to the first and second master grip members.