Modular Force Sensor for Telerobotic Surgery
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Solution Overview
Problem
Current telerobotic surgical systems face challenges in providing accurate feedback of forces and torques to surgeons, particularly due to the difficulty in routing wires through flexible wrist joints and the need for small, precise surgical instruments.
Innovation Solution
A modular force sensor system with axially oriented strain gauges positioned proximal to the wrist joint, allowing for accurate sensing and feedback of forces and torques without errors from wrist configuration changes or temperature variations, and eliminating the need for delicate wire routing through flexible joints.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If force sensors are placed distal to wrist joints, then force sensing capability is achieved, but wire routing complexity increases and measurement accuracy deteriorates due to wrist configuration changes
Solution Approach 1:
The patent inverts the conventional sensor placement location by positioning the force sensor proximal to the wrist joint instead of distal to it. This inversion resolves the technical contradiction by eliminating the need for wires to pass through the flexible wrist joint, thereby reducing device complexity while maintaining measurement accuracy through direct force sensing at the instrument shaft.
2Measurement precision
If force sensors are placed distal to wrist joints, then force sensing capability is achieved, but measurement accuracy deteriorates due to wrist configuration changes
Solution Approach 1:
By inverting the sensor placement from distal to proximal location, the patent eliminates the dependency on wrist joint configuration for accurate force measurement. The sensor positioned at the instrument shaft measures forces directly without being affected by wrist movements, thereby improving both measurement precision and reliability simultaneously.
3Manufacturing precision
If surgical instruments are made smaller for precision, then surgical precision is improved, but space for wire routing decreases
Solution Approach 1:
The patent extracts the force sensing function from the distal end of the instrument where space is limited, and relocates it to the proximal end where there is more space available. This extraction principle allows for simpler wire routing and reduced device complexity while maintaining the small size of the surgical instrument tip for precision surgery.
4Ease of manufacture
If modular force sensor design is implemented, then ease of manufacture is improved, but device complexity may increase
Solution Approach 1:
The patent applies segmentation by dividing the force sensing system into modular components: the strain gauge element, the mounting structure, and the instrument shaft. This segmentation improves ease of manufacture by allowing each component to be fabricated and tested independently, then assembled together. The modular design actually reduces overall device complexity by standardizing interfaces and simplifying the assembly process.
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 modular force sensor system enhances user awareness and control during robotic surgery by providing accurate force and torque feedback, improving surgical precision and reducing mechanical complexity in instrument design.
Implementation Method 1
a tube portion (102) including a plurality of strain gauges (104)
Data Source
AI summary
A modular force sensor apparatus, method, and system are provided to improve force and torque sensing and feedback to the surgeon performing a telerobotic surgery. In one embodiment, a modular force sensor includes a tube portion including a plurality of strain gauges, a proximal tube portion for operably coupling to a shaft of a surgical instrument that may be operably coupled to a manipulator arm of a robotic surgical system, and a distal tube portion for proximally coupling to a wrist joint coupled to an end portion.