Master-Slave Force Measurement Apparatus for Endoscopic Surgery
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Solution Overview
Problem
Endoscopic surgery lacks a reliable method to quantify the force applied by surgical instruments to internal body regions, as existing contact sensors require direct contact and complex attachment, compromising sterilization and economic viability.
Innovation Solution
A force measurement apparatus that detects forces externally and calculates individual forces acting on internal body regions using a force detection unit, reference information generating unit, and individual force calculation unit, allowing for precise force feedback to the operator without direct contact with the internal organ.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a contact sensor or strain gauge is disposed at the tip end of a forceps or around the forceps to detect contact force, then force measurement capability is improved, but device complexity and manufacturing cost increase due to the need to attach sensors according to the shape or size of the forceps
Solution Approach 1:
The patent extracts the force measurement function from the forceps tip end and relocates it to the master mechanism (operator's hand side). The force detection unit is disposed at the insertion end of the master mechanism, allowing force measurement without attaching sensors to the forceps tip. This separation simplifies the forceps design while maintaining measurement capability.
Solution Approach 2:
The patent introduces a force transmission model as an intermediary between the force detection unit and the forceps tip end. The model calculates the force at the tip end based on force detection data from the master mechanism, eliminating the need for direct sensor contact with the forceps tip and internal organs.
2Measurement precision
If a contact sensor is mounted on the tip end of a forceps to provide force feedback to the operator, then force measurement capability is improved, but sterilization difficulty increases due to direct contact with internal organs
Solution Approach 1:
The patent extracts the force detection function from the forceps tip end (inside the body) and relocates it to the master mechanism (outside the body). The force detection unit is disposed at the insertion end of the master mechanism, allowing force measurement without sensors contacting internal organs, thus simplifying sterilization requirements.
Solution Approach 2:
The patent introduces a force transmission model as an intermediary that calculates the force at the forceps tip end based on force detection data from the master mechanism. This model allows force feedback to be provided without direct sensor contact with internal organs, maintaining sterilization integrity.
3Measurement precision
If force sensors are disposed on an arm portion of a surgical robot to detect force acting on the tip end, then force measurement capability is improved, but device complexity and cost increase due to the need for complex sensor attachment in accordance with forceps shape or size
Solution Approach 1:
The patent extracts the force measurement function from the forceps tip end and relocates it to the master mechanism. The force detection unit is disposed at the insertion end of the master mechanism, allowing force measurement without attaching sensors to the forceps tip. This separation eliminates the need for complex sensor attachment procedures and reduces manufacturing costs.
Data Source
AI summary
A force measurement apparatus includes a force detection unit that measures a force generated when a forceps is brought into contact with an inside of a body when an operator inserts a forceps or an endoscope into the body and measures a force generated when the forceps acts on a living body from outside the body, a reference information generating unit that generates reference information serving as information of a force acquired by the force detection unit when the forceps is located at a predetermined position, and an individual force calculation unit that individually calculates a force generated when the forceps acts on the living body in the body based on the reference information.