Robotic Surgical Force Sensing for Haptic Feedback Control
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Solution Overview
Problem
Robotic surgical systems lack tactile feedback for surgeons, preventing them from feeling the forces applied by or on the surgical device components within a patient's cavity, which is essential for precise procedures.
Innovation Solution
Incorporating force and torque sensors into robotic surgical devices and systems to measure forces applied at various components and providing haptic feedback to the user through an external controller, allowing the device to actuate motors based on sensed forces for tactile simulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If force and torque sensors are incorporated into robotic surgical devices to measure applied forces, then tactile feedback capability is improved, but device complexity increases
Solution Approach 1:
The patent implements force and torque sensors that detect forces applied at surgical components and transmit this information to a controller, which then actuates motors to provide haptic feedback to the surgeon through the controller. This closed-loop feedback system restores the tactile information that was lost in traditional robotic surgical systems, allowing surgeons to feel forces applied during procedures.
Solution Approach 2:
The patent introduces force and torque sensors as intermediary devices between the surgical components and the control system. These sensors act as mediators that convert mechanical forces into electrical signals that can be processed by the controller and translated into haptic feedback, bridging the gap between the surgical site and the surgeon's tactile perception.
2Manufacturing precision
If haptic feedback is provided through motor actuation based on sensed forces, then surgical precision is improved, but system complexity increases
Solution Approach 1:
The controller receives force information from sensors and uses this feedback to actuate motors that provide haptic resistance to the surgeon's inputs. This feedback loop allows the system to simulate tissue forces and improve surgical precision by giving the surgeon tactile cues about forces applied at the surgical site.
Solution Approach 2:
The patent replaces direct mechanical force transmission with an electro-mechanical system using force sensors, controllers, and motors. Instead of mechanically coupling the surgical device directly to the surgeon's controller, the system uses electrical signals from sensors and motor actuation to provide haptic feedback, reducing mechanical complexity while improving precision.
3Measurement precision
If force sensors are positioned on robotic arms to measure applied forces, then force measurement accuracy is improved, but device complexity increases
Solution Approach 1:
Force and torque sensors are positioned at strategic locations on the robotic arms and surgical components to directly measure forces applied during surgery. These sensors act as intermediaries that capture force information at the source and transmit it to the control system for processing and haptic feedback generation.
Data Source
AI summary
The various embodiments herein relate to robotic surgical systems and devices that use force and/or torque sensors to measure forces applied at various components of the system or device. Certain implementations include robotic surgical devices having one or more force/torque sensors that detect or measure one or more forces applied at or on one or more arms. Other embodiments relate to systems having a robotic surgical device that has one or more sensors and an external controller that has one or more motors such that the sensors transmit information that is used at the controller to actuate the motors to provide haptic feedback to a user.