MEMS Pressure Sensor Arrays for Robotic Surgery Tactile Feedback
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Solution Overview
Problem
Current surgical robotic tools lack adequate tactile perception, limiting their use in minimally invasive surgery due to insufficient force measurement and spatial resolution, which can result in unnecessary tissue damage and hinder the benefits of robotic surgery.
Innovation Solution
A system with microelectromechanical system-based pressure sensors arranged in arrays, surrounded by an elastomeric substance and housed in a non-corrosive material, providing accurate and spatially distributed force feedback to the surgeon through an electromechanical actuation interface, allowing for minimal tissue damage and improved manipulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional surgical robotic tools are used, then minimally invasive surgery can be performed, but adequate tactile perception and force measurement are lost
Solution Approach 1:
The patent divides the sensing function into multiple discrete pressure sensors arranged in an array across the tissue interface. Each sensor independently measures pressure at its location, creating segmented measurement zones that collectively provide comprehensive force distribution mapping. This segmentation enables precise local force measurement while maintaining overall system manageability.
Solution Approach 2:
The patent introduces an elastomeric material as an intermediary layer between the tissue and the pressure sensors. This elastomeric intermediary transmits mechanical pressure from the tissue to the sensors while providing a compliant interface that distributes forces evenly. The elastomeric mediator enables accurate force measurement without direct rigid contact between sensors and tissue, resolving the contradiction between measurement precision and tissue safety.
2Loss of information
If pressure sensors are added to provide tactile feedback, then force perception is improved, but device complexity and manufacturing difficulty increase
Solution Approach 1:
The patent combines multiple pressure sensors, an elastomeric layer, and electronic components into a single integrated tactile feedback device. The sensors are embedded within or mounted on the elastomeric material, creating a unified assembly that functions as one manufacturable unit. This merging reduces the number of separate manufacturing steps and simplifies integration into the surgical robotic tool.
Solution Approach 2:
The tactile feedback device serves multiple functions simultaneously: it provides structural support for the sensor array, acts as a pressure-transmitting interface with tissue, offers mechanical compliance through the elastomeric material, and enables comprehensive force distribution measurement. This multi-functionality reduces the need for separate components and simplifies the overall manufacturing process.
3Measurement precision
If high spatial resolution force measurement is achieved, then tissue manipulation precision is improved, but the risk of tissue damage from complex instrument profiles increases
Solution Approach 1:
The patent implements local quality by distributing multiple pressure sensors across different locations of the tissue interface. Each sensor provides high-resolution force measurement at its specific location, creating a detailed spatial map of pressure distribution. This localized measurement approach enables precise tissue manipulation while maintaining a simple overall instrument profile that minimizes tissue damage risk.
Solution Approach 2:
The elastomeric intermediary layer provides mechanical compliance that distributes contact forces evenly across the tissue surface. This compliant mediator prevents concentrated stress points that could cause tissue damage, while simultaneously transmitting pressure information to the underlying sensor array for high-resolution measurement. The elastomeric intermediary thus resolves the contradiction between measurement precision and tissue safety.
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 system offers enhanced spatial resolution and responsiveness over a broad range of pressures, enabling surgeons to accurately discern tissue stiffness and compliance, reducing tissue damage and improving surgical precision.
Implementation Method 1
microelectromechanical system-based pressure sensors arranged in arrays
Implementation Method 2
surrounded by an elastomeric substance
Implementation Method 3
providing accurate and spatially distributed force feedback to the surgeon through an electromechanical actuation interface
Data Source
AI summary
Apparatuses and methods for the haptic sensation of forces at a remote location. Groups of MEMS-based pressure sensors are combined into sensor arrays. In some embodiments, the pressure sensors are encased in silicone or other elastomeric substance to allow for routine use in the aqueous environment of the body. The sensor arrays may be housed in a bio-compatible material (e.g., stainless steel, plastic) and may be attached to a printed circuit board to allow the electrical signal generated by the sensors to be communicated to a user. The sensor arrays may be used with faceplates that directly interact with the target tissue or object. The faceplates may be rough, smooth, serrated, or any other texture. The present apparatuses and methods are particularly well suited for robotic surgery and may be used wherever haptic sensing of forces at a remote location is desired.