Fiber-Integrated Monolithic Clamp for 3D Force Sensing
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing force sensors in robot-assisted minimally invasive surgery are limited by size, sensitivity, electromagnetic interference, and poor environmental adaptability, leading to tissue injuries and complications due to excessive force application.
Innovation Solution
A fiber-integrated monolithic clamp guided by metal additive manufacturing, utilizing etched stepped reduced-diameter fiber gratings and a long short-term memory (LSTM) neural network for fault-tolerant measurement of three-dimensional force and temperature, integrated with a random forest algorithm for tissue classification.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If electrical sensors are used for force detection, then measurement capability is provided, but sensitivity is limited and electromagnetic interference occurs
Solution Approach 1:
The patent replaces electrical sensors with optical fiber-based sensing technology. The optical fiber sensor detects force through mechanical deformation of the fiber grating structure, converting mechanical stress into optical wavelength changes rather than electrical signals. This substitution eliminates electromagnetic interference while maintaining high measurement sensitivity through the inherent sensitivity of optical fibers to mechanical stress.
Solution Approach 2:
The patent changes the detection parameter from electrical signals to optical wavelength measurements. By measuring the wavelength shift of the optical fiber grating in response to mechanical deformation, the system achieves high sensitivity force detection without the electromagnetic interference problems of electrical sensors. The optical parameter measurement provides superior signal-to-noise ratio and immunity to electromagnetic fields.
2Measurement precision
If existing force sensors are used, then force detection is provided, but cross interference and poor environmental adaptability occur
Solution Approach 1:
The optical fiber sensor system replaces electrical sensing systems that are susceptible to electromagnetic interference and environmental factors. The optical measurement system inherently resists electromagnetic fields, temperature variations, and moisture, providing superior environmental adaptability while maintaining force detection accuracy through the robust optical fiber grating sensing mechanism.
3Measurement precision
If traditional sensor manufacturing is used, then force sensing is achieved, but size is not minimized
Solution Approach 1:
The patent merges the force sensing function with the clamp structure by integrating the optical fiber grating directly into the clamp body. This integration eliminates the need for separate sensor components and housing, achieving miniaturization while maintaining full force sensing capability. The optical fiber is embedded within the clamp structure, allowing the clamp itself to serve as both the mechanical actuator and the sensing element.
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 sensor provides compact, sensitive, and reliable force and temperature measurements with fault-tolerant capabilities, reducing tissue injuries and improving surgical precision.
Implementation Method 1
establishing, in combination with temperature sensitivity coefficients of the three groups of etched stepped reduced-diameter fiber gratings, a relationship between central wavelength drift amounts of the etched stepped reduced-diameter fiber gratings and a temperature as well as the three-dimensional force
Implementation Method 2
temperature sensitivity coefficients of the three groups of etched stepped reduced-diameter fiber gratings
Implementation Method 3
constructing, when the clamp head of the three-dimensional force sensor clamps the tissues, a mechanical model of the elastomer, obtaining a strain of the elastomer under action of the three-dimensional force
Data Source
AI summary
A method for detecting a three-dimensional force of a fiber-integrated monolithic clamp guided by metal additive manufacturing, including: pre-preparing a three-dimensional force sensor, including a clamp head, an elastomer, and a transmission component; three groups of etched stepped reduced-diameter fiber gratings are provided on the elastomer; constructing, when the clamp head of the three-dimensional force sensor clamps the tissues, a mechanical model of the elastomer, establishing a relationship between central wavelength drift amounts of the etched stepped reduced-diameter fiber gratings and a temperature as well as the three-dimensional force, and deriving a force and temperature sensitivity matrix; decoupling central wavelength values of the three groups of etched stepped reduced-diameter fiber gratings to measure the three-dimensional force and the temperature; using a long short-term memory neural network to train network parameters; and outputting types of the tissues clamped by the clamp in a classified manner through a random forest algorithm.