Surgical Robot Reaction Force Control for Tissue Safety
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Solution Overview
Problem
Surgical robots lack the ability to precisely control and perceive the force applied to delicate tissues during operations, risking tissue damage due to external forces.
Innovation Solution
A surgical robot system that includes an operation part, an action part, a drive part, a reaction force setter, and a reaction force applicator, allowing users to set and apply an operation reaction force based on change information and a conversion coefficient, enabling precise force perception during tissue manipulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a surgical robot is operated by a medical worker to perform treatments, then the surgical robot can perform complex surgical procedures, but the user cannot precisely perceive the force received by the tissue of the target site
Solution Approach 1:
The patent implements a feedback mechanism where the operation reaction force, calculated based on drive part force changes and conversion coefficients, is applied back to the operation part. This allows the user to perceive the force applied to the tissue through tactile feedback, resolving the contradiction between performing complex procedures and perceiving tissue force accurately.
Solution Approach 2:
The patent introduces an intermediary system comprising the reaction force setter and reaction force applicator that mediates between the drive part and operation part. This intermediary calculates and applies operation reaction forces based on drive force changes and conversion coefficients, enabling force perception without requiring direct mechanical coupling between the tissue and user.
2Ease of operation
If the surgical robot applies force to the tissue, then the surgical tools can perform medical treatments, but the tissue easily damaged by external force may be damaged
Solution Approach 1:
The patent applies preliminary anti-action by calculating and applying operation reaction forces before excessive force can be applied to the tissue. The reaction force setter determines the appropriate reaction force based on drive force changes and conversion coefficients, and the reaction force applicator applies this force to the operation part, preventing the user from applying harmful forces to delicate tissues.
Solution Approach 2:
The feedback mechanism provides real-time tactile information to the user about the force being applied to the tissue. By applying the operation reaction force to the operation part, the system enables the user to perceive tissue force and adjust their operation accordingly, preventing tissue damage while maintaining ease of surgical tool control.
3Measurement precision
If the operation reaction force is applied to the operation part, then the user can perceive the force received by the tissue, but the magnitude of the operation reaction force needs to be precisely controlled
Solution Approach 1:
The patent uses parameter changes by introducing conversion coefficients that relate drive force changes to operation reaction forces. The reaction force setter calculates the operation reaction force by applying these conversion coefficients to the measured drive force changes, enabling precise control of force magnitude through parameter transformation rather than complex mechanical control systems.
Solution Approach 2:
The patent replaces complex mechanical force control systems with a computational approach. The reaction force setter uses calculations based on drive force changes and conversion coefficients to determine the operation reaction force, substituting mechanical complexity with computational processing while achieving precise force magnitude control.
Data Source
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Figure 3A~3B
AI summary
A surgical robot including: an operation part with which a user performs an operation; an action part performing an action according to the operation; a drive part supplying a driving force to the action part; a reaction force setter setting a magnitude of an operation reaction force that is a force in a direction opposite to an operation direction of the operation part operated by the user; and a reaction force applicator applying the operation reaction force having a magnitude set by the reaction force setter to the operation part; wherein when the action part performs an action according to the operation, the reaction force setter sets the operation reaction force based on change information about a change in the driving force supplied by the drive part and a conversion coefficient set in advance.