Robotic Arm Force Detection Sensor for Surgical Safety
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Solution Overview
Problem
Robotic surgical systems lack effective monitoring and control mechanisms to manage the force applied by robotic arms on patient anatomy during minimally invasive procedures, which can lead to unintended tissue damage.
Innovation Solution
A robotic surgical system equipped with a force detection system that includes a sensor between a base plate and a top plate, coupled to a pivoting member, and a control device to adjust the robotic arm's position if the detected force exceeds a predetermined threshold, utilizing various types of load cells such as strain gauge, piezoelectric, hydraulic, or optical load cells.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the robotic arm is lowered to precisely position the end effector at a work site, then positioning accuracy is improved, but excessive downward force may be applied to the patient's anatomy causing tissue damage
Solution Approach 1:
A force sensor is integrated into the robotic arm to detect the force being applied to the patient's anatomy in real-time. The control system receives feedback from the sensor and automatically adjusts the robotic arm's position to maintain force within a predetermined safe range, preventing tissue damage while achieving precise positioning
Solution Approach 2:
A force sensor acts as an intermediary element between the robotic arm and the patient's anatomy. This sensor detects forces transmitted through the robotic arm and provides data to the control system, enabling indirect monitoring and control of applied forces without interfering with the surgical procedure
2Measurement precision
If force sensors are integrated into the robotic arm structure, then force monitoring capability is improved, but device complexity increases
Solution Approach 1:
The force sensor is merged with the existing robotic arm structure, specifically integrated into the wrist assembly or arm components. This combination allows force monitoring to be achieved using existing structural elements rather than adding completely separate monitoring systems, thereby reducing overall system complexity
Solution Approach 2:
The robotic arm structure serves multiple functions: it provides mechanical support for the surgical instrument, enables precise positioning, and simultaneously acts as a force transmission path for the sensor. This multi-functionality reduces the need for additional dedicated force transmission components, simplifying the overall system
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 precise monitoring and control of forces applied to the patient, preventing excessive force that could cause tissue damage by adjusting the robotic arm's position in real-time, ensuring safer and more accurate surgical procedures.
Implementation Method 1
The sensor may be a strain gauge load cell
Implementation Method 2
The sensor may be a piezoelectric load cell
Implementation Method 3
The sensor may be a hydraulic load cell
Data Source
Figure 1
Figure 2A
Figure 2B
AI summary
A robotic surgical system includes a robotic arm and a force detection system coupled to the robotic arm. The force detection system includes a sensor configured to detect a force being applied on a patient as the robotic arm is translated to a position relative to a patient.