Surgical Robot Magneto Sensing for Torque and Force Feedback
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Solution Overview
Problem
Existing surgical robotic systems face challenges in accurately sensing and controlling torque and force in their mechanical components, particularly in the instrument drive units and robotic arms, which can lead to inefficiencies, potential damage, and failure due to factors like motor conditions, lubrication changes, thermal effects, and component degradation.
Innovation Solution
Integration of magneto sensors, such as magnetostrictive, magnetoelastic, and magnetoresistive sensors, into the surgical robotic system to monitor and control torque and force in the actuators, drives, and arm links, providing non-contact sensing and efficient monitoring of mechanical efficiency and potential failures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional mechanical sensing methods are used in surgical robotic systems, then the system structure can be simpler, but the measurement precision of torque and force is insufficient leading to inefficiencies and potential failures
Solution Approach 1:
The patent replaces traditional mechanical sensing methods with magneto-sensors that utilize magnetic field interactions to measure torque and force. This substitution enables non-contact sensing, eliminating the need for complex mechanical linkages and contact-based measurement mechanisms, thereby achieving high measurement precision while reducing overall system complexity
Solution Approach 2:
The patent introduces a magnetic field as an intermediary between the mechanical components (drive shafts, joints) and the sensing system. The magneto-sensors detect changes in magnetic fields generated by current-carrying conductors or permanent magnets associated with mechanical components, allowing indirect but accurate measurement of torque and force without direct mechanical contact
2Reliability
If contact-based sensing mechanisms are used, then the device complexity may be reduced, but wear and degradation occur leading to reliability issues
Solution Approach 1:
The patent eliminates contact-based sensing mechanisms by using magneto-sensors that detect magnetic fields without physical contact. This non-contact approach prevents wear and degradation of sensing components, significantly improving system reliability while maintaining manageable integration complexity through modular sensor placement
Solution Approach 2:
The patent leverages the magnetic fields naturally generated by current-carrying conductors in the robotic system's drive shafts and joints to provide sensing capabilities. The existing current for actuation serves dual purposes: driving the mechanism and generating the magnetic field for torque and force measurement, eliminating the need for separate sensing actuators
3Reliability
If non-contact magneto sensor sensing is implemented, then wear and degradation are reduced improving reliability, but the device complexity increases due to sensor integration
Solution Approach 1:
The patent designs the robotic system components (drive shafts, joints) to serve multiple functions: mechanical actuation through motor-driven shafts and simultaneous torque/force sensing through integrated magneto-sensors. This multi-functionality reduces the need for separate dedicated sensing mechanisms, managing integration complexity while achieving non-contact sensing
Solution Approach 2:
The patent implements feedback control by continuously monitoring torque and force through magneto-sensors and using this information to adjust motor commands in real-time. The control system processes sensor signals, compares them with target values, and modifies actuator operation accordingly, managing system complexity through algorithmic control rather than mechanical complexity
4Measurement precision
If traditional mechanical linkages are used for motion control, then the manufacturing precision can be maintained, but the system cannot accurately sense torque and force leading to potential damage
Solution Approach 1:
The patent replaces traditional mechanical linkages with a field-based sensing approach where magneto-sensors detect magnetic fields generated by current-carrying conductors. This eliminates the need for precision-machined mechanical sensing linkages while achieving accurate torque and force measurement through electromagnetic field interactions
Solution Approach 2:
The patent changes the physical parameter used for sensing from mechanical displacement or contact force to magnetic field strength. By measuring magnetic field parameters (flux density, field distribution) rather than mechanical parameters, the system achieves torque and force detection without requiring high-precision mechanical 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
Enhances the reliability and efficiency of surgical robotic systems by accurately measuring torque and force, preventing failures, and predicting maintenance needs, while maintaining high precision and reducing wear and degradation.
Implementation Method 1
the magneto sensor may be a magnetostrictive sensor
Implementation Method 2
the magneto sensor may be a magnetoelastic sensor
Implementation Method 3
the magneto sensor may be a magnetoresistive sensor
Implementation Method 4
The magneto sensor is configured to determine a force experienced by the drive shaft
Data Source
AI summary
A surgical robotic system includes a plurality of magneto sensors for measuring a torque, axial force, angle, position, or speed of various driven members in the surgical robotic system.