Surgical Grasper Force Sensing via Electrode Spacing
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Solution Overview
Problem
Current surgical robots lack the ability to accurately measure forces applied to tissues during operations due to the absence of tactile sensing members, making it difficult to confirm the force applied and potentially leading to tissue damage.
Innovation Solution
A surgical grasper with a first and second gripping part, each featuring a recessed portion with an elastic dielectric body and electrodes, allowing for the measurement of forces in multiple directions by varying the distance between electrodes based on applied external forces, enabling precise force measurement while maintaining the grasper's shape.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a device for measuring force is installed on the surgical robot, then force measurement capability is improved, but the shape of the robot arm cannot be maintained and mounting becomes infeasible
Solution Approach 1:
The force sensing element is nested within the hollow structure of the grasper's first gripping part. The sensing element is inserted into a recessed portion of the gripping part, allowing the measurement device to be integrated inside the existing structure rather than adding external components that would alter the robot arm's shape.
Solution Approach 2:
The grasper's first gripping part serves dual functions: it maintains the original gripping function while simultaneously housing the force sensing element. The hollow structure of the gripping part is utilized to accommodate the sensing element, making the same structural component serve both mechanical and sensing purposes.
2Measurement precision
If a sensor is mounted on the robot arm, then force measurement is enabled, but it becomes difficult to accurately measure force in all directions
Solution Approach 1:
The sensing element measures force through dimensional changes in its structure. When force is applied in any direction, the sensing element deforms, changing the distance between its electrodes. This allows multi-directional force measurement by detecting dimensional changes in different orientations of the grasper.
Solution Approach 2:
The sensing element is positioned at the tip of the grasper where force is directly applied to the tissue. By placing the sensor at this critical location with optimal orientation, it can detect force components in multiple directions through local deformation, enabling comprehensive force measurement capability.
3Shape
If the grasper shape is maintained for effective grasping, then gripping performance is improved, but force measurement capability deteriorates
Solution Approach 1:
The force sensing element is nested within the hollow structure of the grasper's first gripping part. The sensing element is inserted into a recessed portion of the gripping part, allowing the measurement device to be integrated inside the existing structure rather than adding external components that would alter the robot arm's shape.
Solution Approach 2:
The force sensing functionality is merged with the grasper's gripping structure. The sensing element is integrated into the first gripping part, combining the mechanical gripping function with the force measurement function in a single unified structure, eliminating the need for separate mounting.
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 of forces applied to surgical objects, allowing for precise control and minimizing tissue damage by effectively grasping and sensing forces in 6-axis directions.
Implementation Method 1
a first elastic dielectric body having one surface surface-contacting the first recess portion
Implementation Method 2
an electrode part including a pair of electrodes opposed to each other on opposite surfaces of the first elastic dielectric body and having a distance between the electrodes, varied by external force applied thereto
Implementation Method 3
an electrode part including a pair of electrodes opposed to each other on opposite surfaces of the first elastic dielectric body and having a distance between the electrodes, varied by external force applied thereto
Data Source
AI summary
The present invention relates to a surgical grasper for measuring force, the surgical grasper having a first gripping part and a second gripping part, the first gripping part being provided with a first recess portion recessed inwardly from an outer surface of the first gripping part, the surgical grasper including: a first elastic dielectric body having one surface surface-contacting the first recess portion; an electrode part including a pair of electrodes opposed to each other on opposite surfaces of the first elastic dielectric body and having a distance between the electrodes, varied by external force applied thereto; and a first finishing part surface-contacting the other surface of the first elastic dielectric body and formed to correspond to the first recess portion to thereby be inserted into the first recess portion.