Variable Stiffness Master Device for Robotic Forceps
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Solution Overview
Problem
Surgical robots lack precise control and haptic feedback for forceps drivers, making it difficult to achieve precise gripping and force measurement during remote surgery, and existing tele-manipulators rely on visual feedback without intuitive force application.
Innovation Solution
A tele-operated forceps-driver variable stiffness master device that includes a master member generating input displacement signals and a slave member measuring operation information to provide force feedback and stiffness changes, using a deformable membrane, wire, and sensors to control the gripping force and stiffness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a forceps driver is operated without a gripping force measurement sensor, then the device structure remains simple, but precise measurement and fine control of gripping force cannot be achieved
Solution Approach 1:
A force sensor is introduced as an intermediary component between the drive wheel and the linear slider. This sensor mediates the force transmission, enabling precise measurement of gripping force without requiring complex restructuring of the entire forceps driver system. The sensor acts as a bridge that provides measurement capability while maintaining relative structural simplicity.
2Ease of operation
If a tele-manipulator uses button-mounted control without haptic feedback, then the control mechanism remains simple, but intuitive manipulation and force sensation feedback are lost
Solution Approach 1:
A haptic feedback mechanism is implemented that provides force sensation feedback to the operator through the master device. The feedback system measures the gripping force at the slave end and transmits this information back to the master device, creating a closed-loop feedback system. This enables intuitive manipulation by allowing the operator to feel the actual gripping force being applied, improving control awareness without excessive complexity.
3Loss of information
If remote surgery relies only on visual feedback, then the system remains simple, but surgeons cannot identify grasping manipulation and forces applied to tissues
Solution Approach 1:
A haptic feedback system is implemented that measures gripping force at the slave end and transmits this force sensation information back to the master device. This feedback mechanism restores the loss of force sensation information by providing tactile feedback to the surgeon, enabling identification of grasping manipulation and forces applied to tissues without excessive system complexity.
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 control and haptic feedback for forceps drivers, allowing surgeons to intuitively manipulate and measure gripping forces during remote surgery, enhancing the precision and safety of robotic-assisted microsurgery.
Implementation Method 1
In an initial condition, when the button is pressed, the deformable membrane may be elastically deformed
Implementation Method 2
a wire that is deformed in contraction when supplied with power to restore the deformable membrane to an original state
Data Source
AI summary
Provided is a tele-operated forceps-driver variable stiffness master device including a master member to generate an input displacement signal generated by pressing with a user's finger, and a slave member to operate based on the input displacement signal, measure operation information, calculate a gripping force based on the operation information, and provide the master member with at least one of a stiffness change command signal or a force feedback based on the calculated gripping force.