Self-Adjusting Controllers for Force Assistance Systems in Surgical Robotics

Case ID:

This technology is a force guidance system for use in human-machine hand-on interfaces like surgical robots. By using sensors, heuristics and motors, the proper force can be applied to the human end to simulate the resistance encountered on the robotic end. This technology employs a novel algorithm that allows the system to tailor the resistance to a user's style and preference for use in training simulators.


When surgeons use robotic assist devices it can be difficult for them to gauge the pressure and force necessary to apply to the soft tissue, which can result in trauma or damage to tissue and organs. The technology presented here allows the surgical tools to mimic the resistance and force applied so the surgeon can feel and adjust pressure accordingly.



  • Robotic surgery
  • Tele-operation platforms
  • Driver support systems
  • Rehabilitation devices
  • Skills training
  • Handwriting assistance systems
  • Any robotic tool where force control systems are used 


  • Reduces patient trauma and hospitalization
  • Allows for better control of tools and instruments
  • Provides individualized user sensitivity
  • Provides real life training simulations for students

Status: issued U.S. patent #11,875,701

Patent Information:
Contact For More Information:
Tariq Ahmed
Sr Licensing Manager, College of Engineering
The University of Arizona
Lead Inventor(s):
Minsik Hong
Jerzy Rozenblit