Multi-force sensing instrument for retinal microsurgery
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Solution Overview
Problem
Current robotic systems for retinal microsurgery lack effective multi-force sensing capabilities, particularly in measuring forces applied at the sclera entry point and their location on the tool shaft, which can lead to excessive force on the retina, potentially causing hemorrhage or tearing, and hinder precise instrument motion due to inadequate feedback on tool-to-tissue interaction.
Innovation Solution
A multi-force sensing instrument with a tool shaft equipped with strain sensors and torque-force sensors, along with a signal processor to determine the magnitude and position of lateral forces applied between these sensors, providing feedback for robotic systems to ensure precise control and minimize eye motion during retinal microsurgery.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If force sensing is added to robotic surgical instruments, then safety and precision are improved, but device complexity increases
Solution Approach 1:
The patent embeds multiple strain sensors within the hollow structure of the instrument shaft, nesting sensing elements inside the existing mechanical framework. This allows force sensing capability to be integrated without adding external components, thereby improving safety while minimizing increases in device complexity.
Solution Approach 2:
The strain sensors serve multiple functions: they detect lateral forces, determine force application positions, and provide feedback for robotic control. This multi-functionality allows a single sensing system to address multiple safety and precision requirements simultaneously, improving reliability without proportionally increasing complexity.
2Measurement precision
If multiple strain sensors are placed along the tool shaft to detect force position, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The tool shaft is divided into multiple sensing zones by placing strain sensors at different positions along its length. Each sensor segment detects forces in its specific region, enabling precise localization of force application. This segmentation approach improves measurement precision while keeping each individual sensor simple.
Solution Approach 2:
The patent transitions from single-point force detection to distributed multi-point detection along the length of the shaft. By adding the spatial dimension of sensor distribution, the system can determine both magnitude and position of forces, significantly improving measurement precision without requiring complex single-point sensors.
3Manufacturing precision
If force feedback control is implemented, then surgical precision is improved, but system complexity increases
Solution Approach 1:
The patent implements a feedback loop where strain sensors detect forces applied during surgery, the control system processes this information, and the robot adjusts its motion accordingly. This feedback mechanism enables real-time force control, improving surgical precision by preventing excessive forces while maintaining intuitive robot behavior.
Solution Approach 2:
The patent replaces complex mechanical force feedback mechanisms with electronic sensing and software-based control. Instead of using mechanical springs or levers to provide force feedback, the system uses strain sensors and computational algorithms to achieve force control, reducing mechanical complexity while maintaining or improving precision.
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 enhances safety and usability by accurately measuring and controlling forces applied during retinal microsurgery, reducing the risk of retina damage and improving surgical precision by providing intuitive robot behavior and scaled feedback, enabling precise manipulation within the eye.
Implementation Method 1
a strain sensor arranged at a first position along the tool shaft, at least one of a second strain sensor or a torque-force sensor arranged at a second position along the tool shaft
Data Source
Figure 1A~1B
Figure 2A~2D
Figure 2E
AI summary
A multi-force sensing instrument includes a tool that has a tool shaft having a distal end and a proximal end, a strain sensor arranged at a first position along the tool shaft, at least one of a second strain sensor or a torque-force sensor arranged at a second position along the tool shaft, the second position being more towards the proximal end of the tool shaft than the first position, and a signal processor configured to communicate with the strain sensor and the at least one of the second strain sensor or the torque-force sensor to receive detection signals therefrom. The signal processor is configured to process the signals to determine a magnitude and position of a lateral component of a force applied to the tool shaft when the position of the applied force is between the first and second positions.