CN104783865B - A kind of laparoscope three-dimensional force based on Fiber Bragg Grating FBG senses nipper - Google Patents
A kind of laparoscope three-dimensional force based on Fiber Bragg Grating FBG senses nipper Download PDFInfo
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- CN104783865B CN104783865B CN201510166997.2A CN201510166997A CN104783865B CN 104783865 B CN104783865 B CN 104783865B CN 201510166997 A CN201510166997 A CN 201510166997A CN 104783865 B CN104783865 B CN 104783865B
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- fiber bragg
- bragg grating
- nipper
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/18—Shielding or protection of sensors from environmental influences, e.g. protection from mechanical damage
Abstract
The present invention relates to a kind of laparoscope three-dimensional force based on Fiber Bragg Grating FBG senses nipper.Including nipper head：Fiber Bragg Grating FBG optical signal is converted to for clamping tissue and by clamping force signal；Driving handle：Apply for extraneous load, curable grip is converted to closing force needed for nipper；Connection sleeve pipe：For connecting nipper head and driving handle, and optical signal is reached signal processing unit.Described laparoscope three-dimensional force sensing nipper just apparatus is converted to optical signal with function of organization power, by fiber Bragg grating (FBG) demodulator collection and the computerized algorithm decoupling of design, recovers perception of the surgeon for apparatus function of organization power.The present invention, have the advantages that sensor bulk compact, possess biocompatibility, sterilizability, electromagnetism interference, can be provided in laparoscopic surgery in real time power feel feedback with assist surgeon realize accurately power control, lifted operation safety.
Description
Technical field
The present invention relates to a kind of medicine equipment, is specifically related to a kind of three-dimensional force sensing nipper for laparoscopic surgery.
Background technology
At present, surgeon can only pass through when laparoscopic surgery is implemented due to being unable to directly contact in patient body tissue
Visual information is fed back, that is, the deformation that organizes estimates that apparatus is applied to structural active force.Friction, abdomen due to trochar
The factors such as the structure of the resistance of wall, the impact of proportionality coefficient and apparatus, when effect force information reaches surgeon by apparatus
Distortion, can so cause apparatus produce sliding or chucking power excessive.Clamping different types of tissue can cause as damage group
Knit, form pathology cicatricial tissue, the bad surgical consequences such as and WeiDongLi Capsule bonding with operating theater instruments disappearance of bleeding.Therefore, exist
In operation, power feels that the recovery of information is particularly important for avoiding tissue from producing the excessive active force of sliding and applying with apparatus.
In order to recover perception of the doctor for apparatus-function of organization power, force snesor integrated to operating theater instruments is needed.So
And, laparoscopic surgery occasion for the requirement of sensor itself, except high sensitivity, high robust, minimum zero point and sensitive
Outside the basic demands such as degree drift, its special applications is also had to require, such as biocompatibility, sterilizability, compact size, anti-electromagnetism are done
Disturb, can single use etc..Traditional force snesor, such as condenser type, pressure resistance type, piezoelectric type, strain-gauge transducer, it is difficult to full
Sufficient surgical application particular/special requirement.Therefore, in order to meet the use requirement of surgical application, need to seek new sensing technology for
The power of laparoscopic surgery feels feedback.
In recent years, the optical fiber Bragg grating sensing technology based on wavelength decoding is due to electromagnetism immunity, high sensitivity
And the advantages of high duplication, occur gradually in biomedical applications.When broadband light is propagated in a fiber, Bradley glazing bar is met
The light of part (i.e. wavelength is bragg wavelength) will be reflected back, and the light of its commplementary wave length can continue transmission.When fibre strain occurs
The change of Fiber Bragg Grating FBG effective refractive index and screen periods during change, can be caused, changed so as to bragg wavelength,
Therefore the change of matrix strain can be detected by the skew of detection reflectance spectrum.
For fiber Bragg grating technology, Johns Hopkins University has used it for operation on retina drag hook getter
Tool and film layer active force；The technology is used for medical scissors by Dublin Polytechnics, obtains tissue shearing force and to tissue fracture
Toughness is estimated；University of Bern uses it for Otorhinolaryngologic operation and obtains the active force that apparatus crimps stapes.And the country by its
Report is had no at present for the achievement of Minimally Invasive Surgery research.
Therefore, if the sensing technology can be combined with structure design in laparoscopic surgery, a kind of integrated three are designed
The laparoscope grasping forceps that dimension power is perceived, the sensor bulk are compact, possess biocompatibility and sterilizability, electromagnetism interference, essence
Degree is high, and repeatability is good with dynamic property, and real-time force when using it for grasping tissue in art feels feedback, then surgery can be assisted to cure
Raw accurately power of realizing controls, and lifts the security of laparoscopic surgery.
Content of the invention
The present invention can not obtain the problem of apparatus and tissue interaction power for current laparoscopic surgery Chinese and foreign department doctor,
A kind of three-dimensional force sensing abdominal videoendoscopic surgery nipper of integrated optical fiber Bragg grating is proposed, the nipper can obtain power in art in real time
Feel feedback information.Designed laparoscope grasping forceps not only compact conformation, sensitivity are high, and decoupling is good, and can be used for nuclear magnetic resonance
(MRI) surgical environments, can make surgeon to organizing and implementing accurately power control, reduce apparatus to the wound that organizes, lift hand
Art security.
For solving above-mentioned technical problem, the present invention is adopted the following technical scheme that：
A kind of laparoscope three-dimensional force based on Fiber Bragg Grating FBG senses nipper, and its feature is, including：
Power senses nipper head, is converted to Fiber Bragg Grating FBG optical signal for clamping tissue and by clamping force signal；
Driving handle, applies for extraneous load, and curable grip is converted to closing force needed for power sensing nipper head；
Connection sleeve pipe, for attachment force sensing nipper head and driving handle, and optical signal is reached signal processing unit；
Signal processing unit, for converting optical signals to data signal, and is shown.
Further, the drive that described driving handle includes rotary handle, gripping handle and is arranged in the gripping handle
Movable slider；
Described connection sleeve pipe includes inner catheter with the parallel optical-fibre channel of two rows, the overcoat being set in outside the inner catheter
Pipe, the upper steel wire cable being fixed in the outer tube and lower steel wire cable and the joints of optical fibre；
Described power sensing nipper head includes nipper head body and four Fiber Bragg Grating FBGs；
The signal processing unit includes fiber Bragg grating (FBG) demodulator and computer；
Described nipper head body is made up of upper nipper head and lower nipper head, and described upper nipper head and lower nipper head pass through
Pin-hinges, and be connected with one end of described outer tube with lower steel wire cable by described upper steel wire cable respectively, this is outer
The other end of sleeve pipe is connected with described rotary handle, and described inner catheter extends and described driving slide block company from outer tube
Connect；
One end of first Fiber Bragg Grating FBG and second Fiber Bragg Grating FBG is embedded in nipper head, and the 3rd
One end of root Fiber Bragg Grating FBG and the 4th Fiber Bragg Grating FBG is embedded in lower nipper head, first optical fiber Bragg
The other end and the 3rd Fiber Bragg Grating FBG of grating and second Fiber Bragg Grating FBG and the 4th optical fiber Bragg light
The other end of grid is connected with one end of the joints of optical fibre by the parallel optical-fibre channel of two rows respectively, the other end of the joints of optical fibre
The input of external fiber Bragg grating (FBG) demodulator, the output end of the fiber Bragg grating (FBG) demodulator are connected with computer.
Further, the material of the nipper body is low elastic modulus bio-polymer material.
Further, described first Fiber Bragg Grating FBG, second Fiber Bragg Grating FBG and the 3rd optical fiber cloth
Glug grating is used for strain sensing, and the 4th described Fiber Bragg Grating FBG is used for temperature-compensating.
Further, the inner catheter is provided with two exhausting holes, and one end is hinged with nipper head body, and the other end is led to driving handle
Cross threaded；By four fiber guides to the joints of optical fibre, the joints of optical fibre are placed in rotary handle to two exhausting hole
In；The rotary handle adopts symmetrical subdivision structure, center and top to be provided with through hole, and optical fiber is caused fiber Bragg grating (FBG) demodulator；
Gathered optical signal is converted to force signal by the fiber Bragg grating (FBG) demodulator, realizes three-dimensional force decoupling by the algorithm for designing.
Compared with prior art, the invention has the beneficial effects as follows：
1) apparatus and function of organization force information can be obtained when implementing operation using laparoscope grasping forceps, handle is applied in art
Load lotus implement control, it is to avoid existing operation in chucking power too small produce sliding and chucking power excessive and damage tissue, lifting
Laparoscopic surgery security；
2) optical signal transmission is adopted, sensitivity is high, electromagnetism interference can be not applicable in conventional telecommunications sensor
Used in MRI surgical application.
Description of the drawings
Fig. 1 is laparoscope three-dimensional force sensing nipper measuring system schematic diagram of the present invention based on Fiber Bragg Grating FBG.
Fig. 2 is laparoscope three-dimensional force sensing nipper body construction schematic diagram of the present invention based on Fiber Bragg Grating FBG.
Fig. 3 is power of the present invention sensing nipper header structure schematic diagram.
Fig. 4 is Fiber Bragg Grating FBG arrangement schematic diagram of the present invention.
Fig. 5 is three-dimensional force sensing nipper tail structure enlarged drawing.
Fig. 6 is three-dimensional force sensing nipper power drive schematic enlarged-scale view.
1 three-dimensional force senses nipper body；2 fiber Bragg grating (FBG) demodulators；3 computers；4- nipper head body；The upper nipper of 4a-
Head；Nipper head under 4b；5 inner catheters；6 outer tubes；7 rotary handles；8 joints of optical fibre；9 gripping handles；10 pins join
Connect；11 steel wire cables；The upper steel wire cable of 11a；Steel wire cable under 11b；First Fiber Bragg Grating FBG of 12a；12b
Two Fiber Bragg Grating FBGs；The 3rd Fiber Bragg Grating FBG of 13a-；The 4th Fiber Bragg Grating FBG of 13b；14 grip
Driving slide block in handle；Optical-fibre channel in 15 inner catheters.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Referring to the drawings 1, it is laparoscope three-dimensional force sensing nipper measuring system schematic diagram, including：Three-dimensional force sensing is grabbed
Pincers body 1, which is interacted with tissue, and force signal is converted to optical signal output；Fiber Bragg grating (FBG) demodulator 2, will be above-mentioned
Optical signal is converted to data signal；Computer 3, with the program that writes in advance, converts digital signals into apparatus and tissue phase
The three-dimensional force of interaction, and export over the display.
Fig. 2 is three-dimensional force sensing nipper body construction schematic diagram in the present invention, including nipper head body 4a and 4b, inner catheter
5th, outer tube 6, rotary handle 7, the joints of optical fibre 8, gripping handle 9.Nipper head body 4 is connected with inner catheter 5 by hinged, can
Make closing motion clamping tissue, the material that nipper head body 4 is adopted is low elastic modulus bio-polymer material.Fig. 3 and Fig. 4 are
Fiber grating is embedded in 4 schematic diagram of nipper head body, is embedded in fiber grating 12a, 12b, 13a and 13b.Wherein 12a, 12b, 13a are used
In strain sensing, 13b is used for temperature-compensating.
With reference to Fig. 3 and 4, it is Fiber Bragg Grating FBG arrangement schematic diagram of the present invention.Fig. 4 or so is respectively two nippers
The XY sectional view (Fig. 3 rectangular broken line) of head body 4, nipper head body length direction are Z axis.Fiber Bragg Grating FBG 12a is located at
Apparatus XZ and YZ section neutral line, Fiber Bragg Grating FBG 12b are located in the neutral line of apparatus XZ section, with Fiber Bragg Grating FBG
12a is at a distance of 1.5mm.Fiber Bragg Grating FBG 13a is located in the neutral line of apparatus YZ section, and Fiber Bragg Grating FBG 13b is for setting up
Temperature compensation sensor, vertical with Fiber Bragg Grating FBG 13b at a distance of 1.5mm.
With reference to Fig. 4, according to the arrangement of fiber grating in the present invention, can derive that tissue puts on the active force of nipper
And the relation between the optical signal of nipper output, algorithm expression formula specific derivation process are as follows：
When nipper head body receives three-dimensional force load Fx, Fy, FzDuring effect, it will deform, cause at FBG
Produce strain.If KijFor each optical fiber load wavelength coefficients, KTiFor each fiber optic temperature wavelength coefficients, by the arrangement of sensor,
Each FBG reflection wavelength variable quantity with external applied load relation is：
Δλ4=KT4ΔT
Δλ1=K1zFz+KT1ΔT
Δλ2=K2zFz+K2xFx+KT2ΔT
Δλ3=K3zFz+K3yFy+KT3ΔT
If KT1/KT4=α1, KT2/KT4=α2, and KT3/KT4=α3, above various it is deformed into：
Δλ1-α1Δλ4=K1zFz
Δλ2-α2Δλ4=K2zFz+K2xFx
Δλ3-α3Δλ4=K3zFz+K3yFy
Being write as matrix form is：Δ λ=KF
Wherein：
Δ λ=[Δ λ1-α1Δλ4Δλ2-α2Δλ4Δλ3-α3Δλ4]T
F=[FxFyFz]T
By (FBG) demodulator measurement sensor reflection wavelength offset amount, computer passes through following decoupling algorithm, obtains three-dimensional force big
Little：
F=K-1Δλ
Fig. 5 is three-dimensional force sensing nipper tail structure enlarged drawing, and outer tube 6 is connected with rotary handle 7 by screw thread, inside leads
Pipe 5 extends from 6 through hole of outer tube, is connected with driving slide block 14 in 9 in gripping handle.Optical fiber is drawn from nipper head body 4,
Through optical-fibre channel 15a in inner catheter 5,15b extends, by the joints of optical fibre 8 and the fiber grating that are fixed on rotary handle 7
(FBG) demodulator 2 is connected, and realizes the collection of optical signal.
Referring to the drawings 6, it is three-dimensional force of the present invention sensing nipper power drive schematic enlarged-scale view, the afterbody of nipper head body 4
It is connected with outer tube by steel wire cable 11a, 11b, two ropes are in intersection X-type.When gripping handle 9 is closed, inner catheter 5 is by gripping
Driving slide block 14 in handle drives forwards, produce micro-displacement, now nipper head body 4a, 4b pulled by steel wire cable 11 and
Closure；When gripping handle 9 is unclamped, by driving slide block 14 to back-drive, now nipper head body 4a, 4b receives steel wire rope to inner catheter 5
Rope 11 is conflicted and is opened.
The present invention passes through above-mentioned embodiment, has the advantages that：The present invention provide based on optical fiber Bragg light
Apparatus and function of organization power are converted to optical signal by the laparoscope three-dimensional force sensing nipper of grid, are gathered by fiber Bragg grating (FBG) demodulator
With the computerized algorithm decoupling of design, the three-dimensional force that apparatus acts on tissue is obtained, is effectively reduced in conventional laparoscopic operation
Be easily caused during grasping tissue the too small sliding of chucking power and chucking power excessive and damage tissue risk.Designed three-dimensional force
Sensing nipper is due to adopting optical signal transmission, additionally it is possible to make in the inoperable nuclear magnetic resonance surgical application of traditional sensors
With.
It is only illustrating for feasibility embodiment of the present invention that those listed above is described in detail.So, if
Those skilled in the art is enlightened by which, in the case of without departing from the spirit and scope of the present invention, using optical fiber Bragg light
The embedded mode of grid realizes the laparoscope grasping forceps that three-dimensional force is sensed and decoupled, and all should belong to protection scope of the present invention.
Claims (3)
1. a kind of laparoscope three-dimensional force based on Fiber Bragg Grating FBG senses nipper, including：
Power senses nipper head, is converted to Fiber Bragg Grating FBG optical signal for clamping tissue and by clamping force signal；
Driving handle, applies for extraneous load, and curable grip is converted to closing force needed for power sensing nipper head；
Connection sleeve pipe, for attachment force sensing nipper head and driving handle, and optical signal is reached signal processing unit；
Signal processing unit, for converting optical signals to data signal, and is shown；It is characterized in that：
Described driving handle includes rotary handle (7), gripping handle (9) and the driving being arranged in the gripping handle (9)
Slide block (14)；
Described connection sleeve pipe includes inner catheter (5) with the parallel optical-fibre channel of two rows, is set in the inner catheter (5) outward outer
Sleeve pipe (6), the upper steel wire cable (11a) being fixed in the outer tube (6) and lower steel wire cable (11b) and the joints of optical fibre
(8)；
Described power sensing nipper head includes nipper head body (4) and four Fiber Bragg Grating FBGs；
The signal processing unit includes fiber Bragg grating (FBG) demodulator (2) and computer (3)；
Described nipper head body (4) is made up of upper nipper head (4a) and lower nipper head (4b), described upper nipper head (4a) and
Lower nipper head (4b) is hinged by pin (10), and respectively by described upper steel wire cable (11a) and lower steel wire cable (11a)
It is connected with one end of described outer tube (6), the other end of the outer tube (6) is connected with described rotary handle (7), described
Inner catheter (5) extension from outer tube (6) is connected with described driving slide block (14)；
One end of first Fiber Bragg Grating FBG (12a) and second Fiber Bragg Grating FBG (12b) is embedded in nipper head
(4a), in, one end of the 3rd Fiber Bragg Grating FBG (13a) and the 4th Fiber Bragg Grating FBG (13b) is embedded in lower nipper
In head (4b), the other end of first Fiber Bragg Grating FBG (12a) and second Fiber Bragg Grating FBG (12b) and the 3rd
Fiber Bragg Grating FBG (13a) and the other end of the 4th Fiber Bragg Grating FBG (13b) are led to by the parallel optical fiber of two rows respectively
Road is connected with the one end of the joints of optical fibre (8), the other end external fiber Bragg grating (FBG) demodulator (2) of the joints of optical fibre (8) defeated
Enter end, the output end of the fiber Bragg grating (FBG) demodulator (2) is connected with computer (3).
2. the laparoscope three-dimensional force based on Fiber Bragg Grating FBG according to claim 1 senses nipper, it is characterised in that：
The material of the nipper head body is low elastic modulus bio-polymer material.
3. the laparoscope three-dimensional force based on Fiber Bragg Grating FBG according to claim 1 senses nipper, it is characterised in that：
Described first Fiber Bragg Grating FBG (12a), second Fiber Bragg Grating FBG (12b) and the 3rd optical fiber Bragg light
Grid (13a) are used for strain sensing, and the 4th described Fiber Bragg Grating FBG (13b) is used for temperature-compensating.
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| CN201510166997.2A CN104783865B (en) | 2015-04-09 | 2015-04-09 | A kind of laparoscope three-dimensional force based on Fiber Bragg Grating FBG senses nipper |
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Families Citing this family (8)
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| CN109115380B (en) * | 2017-06-23 | 2019-11-08 | 中国科学院沈阳自动化研究所 | Three-dimensional force sensor for minimally invasive medical instrument |
| CN107560777B (en) * | 2017-07-31 | 2019-07-30 | 东南大学 | Based on the three-dimensional force feedback handle restoring force control structure of power/torque sensor and method |
| CN108542469B (en) * | 2018-02-14 | 2020-04-28 | 天津大学 | Image feedback-based six-dimensional force sensor, clamping probe and clamping instrument |
| CN109366459B (en) * | 2018-09-30 | 2021-08-03 | 重庆大学 | Micro-clamp for measuring clamping force and clamping jaw displacement by using fiber Bragg grating |
| CN109249416B (en) * | 2018-09-30 | 2022-01-18 | 重庆大学 | Micro clamp with clamping jaw being fiber Bragg grating and clamping force self-sensing function |
| CN113345291A (en) * | 2021-06-15 | 2021-09-03 | 南方医科大学珠江医院 | Minimally invasive surgery tactile feedback system and method based on fiber grating sensor |
| CN114018303A (en) * | 2021-11-04 | 2022-02-08 | 天津工业大学 | Novel fiber Bragg grating probe for in-situ monitoring of hydraulic shear force |
| CN114533203A (en) * | 2022-04-24 | 2022-05-27 | 湖南大学 | Operating forceps with force/position sensing function and force/position decoupling system |
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| US7930065B2 (en) * | 2005-12-30 | 2011-04-19 | Intuitive Surgical Operations, Inc. | Robotic surgery system including position sensors using fiber bragg gratings |
| EP2127604A1 (en) * | 2008-05-30 | 2009-12-02 | Nederlandse Organisatie voor toegepast- natuurwetenschappelijk onderzoek TNO | An instrument for minimally invasive surgery |
| KR20140008546A (en) * | 2012-07-05 | 2014-01-22 | 삼성전자주식회사 | Surgical tool, surgical robot having the same and remote control robot system |
| US9113904B2 (en) * | 2012-07-19 | 2015-08-25 | Covidien Lp | Surgical instrument with fiber bragg grating |
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