Multi-Axial Force Sensor Using Capacitive Sensing for Surgical Grasper
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Solution Overview
Problem
Current force sensors are inadequate for accurately measuring multi-axial forces in limited spaces, particularly in minimally invasive surgery where a robot grasper requires precise force feedback with minimal sensor mounting, and existing solutions require multiple sensors that are not feasible in compact designs.
Innovation Solution
A multi-axial force sensor with a simple structure comprising a first operating section, an elastic section, and an electrode section that forms electrostatic capacity to measure forces through relative position changes, allowing for precise force measurement using a minimal number of sensors, and a grasper incorporating these sensors to calculate multi-axial forces applied during surgery.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple force sensors are used to measure multi-axial forces, then measurement precision is improved, but device complexity increases and space requirements increase
Solution Approach 1:
The patent combines multiple force sensing capabilities into a single integrated sensor. The sensor integrates a capacitive sensing element with elastic deformation mechanisms, allowing one sensor to measure forces in multiple directions (multi-axial forces) that would traditionally require multiple separate sensors. This merging reduces device complexity while maintaining measurement precision.
Solution Approach 2:
The force sensor is designed with multi-functionality to measure forces in multiple axes simultaneously. The capacitive sensing mechanism combined with elastic deformation allows the single sensor to perform the function of multiple sensors, enabling universal application in space-constrained environments where multi-axial force measurement is needed.
2Measurement precision
If multiple force sensors are mounted on the grasper, then force feedback accuracy is improved, but the grasper size increases and incision size increases
Solution Approach 1:
The patent merges multiple sensing functions into a single compact sensor that can be mounted on the minimally invasive grasper. This integration allows accurate force feedback measurement without increasing the grasper volume or requiring larger incisions, as the sensor maintains a compact form factor while providing multi-axial force measurement capabilities.
3Object-affected harmful factors
If a compact grasper design is used for minimally invasive surgery, then patient benefit is improved, but sensor mounting capability deteriorates
Solution Approach 1:
The sensor design merges sensing elements with the grasper structure itself, eliminating the need for separate sensor mounting components. This integration enables compact grasper design suitable for minimally invasive surgery while maintaining the adaptability to measure multi-axial forces, as the sensing mechanism is built into the grasper rather than added as separate components.
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
Enables accurate measurement and feedback of multi-axial forces with a reduced number of sensors, suitable for minimally invasive surgery, by utilizing electrostatic capacity changes to determine applied forces, thereby improving surgical precision and reducing sensor complexity.
Implementation Method 1
an electrode section which is formed in the first protrusion module, wherein the electrode section, together with the second operating section, forms an electrostatic capacity when electric power is supplied thereto, and multi-axial force applied to the first operating section or the second operating section is obtained based on change in a relative position between the electrode section and the second operating section
Implementation Method 2
an elastic section which is formed at one end of the first member; a second operating section which includes a second member formed with one end to face one end of the first member with the elastic section therebetween
Data Source
AI summary
Disclosed are a multi-axial force sensor capable of measuring multi-axial force and a grasper for sensing multi-axial force using the same. The multi-axial force sensor includes: a first operating section which includes a first member, and a first protrusion module formed protruding from one side of the first member; an elastic section which is formed at one end of the first member; a second operating section which includes a second member formed with one end to face one end of the first member with the elastic section therebetween, and a second protrusion module formed protruding from one side of the second member to face the first protrusion module; and an electrode section which is formed in the first protrusion module. With this, there is provided a force sensor capable of precisely measuring force through a simple structure.