CN102671280A - Airbag clamping device with function of feeding back intervention operation resistance - Google Patents
Airbag clamping device with function of feeding back intervention operation resistance Download PDFInfo
- Publication number
- CN102671280A CN102671280A CN2011100541526A CN201110054152A CN102671280A CN 102671280 A CN102671280 A CN 102671280A CN 2011100541526 A CN2011100541526 A CN 2011100541526A CN 201110054152 A CN201110054152 A CN 201110054152A CN 102671280 A CN102671280 A CN 102671280A
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- air bag
- airbag
- conduit
- air
- clamping device
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- 239000011888 foil Substances 0.000 claims abstract description 18
- 210000003437 trachea Anatomy 0.000 claims description 14
- 238000013152 interventional procedure Methods 0.000 claims description 9
- 210000004712 air sac Anatomy 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract description 7
- 238000005273 aeration Methods 0.000 abstract description 4
- 230000002093 peripheral effect Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 8
- 238000012360 testing method Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 210000004204 blood vessel Anatomy 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 3
- 230000002301 combined effect Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 208000019155 Radiation injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
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Abstract
The invention provides an airbag clamping device with a function of feeding back intervention operation resistance. The airbag clamping device comprises an airbag, an airbag casing pipe, an air pump, a pressure measuring chamber, an air pipe and an air pressure sensor, wherein the airbag and the an airbag casing pipe are connected without circular relative rotation; the two sides of one end of the airbag casing pipe are respectively provided with a baffle plate; the air pump is connected with the pressure measuring chamber, the air pipe and the airbag successively; and the air pressure sensor is arranged in the air pressure measuring chamber. According to the airbag clamping device, the clamping function of a conduit is realized by aerating the airbag; the airbag is in tight contact with the conduit at the peripheral direction of the conduit; the appearance of the conduit is kept; and the conduit is prevented from being damaged. The aerating pressure is detected by using the air pressure sensor so as to modulate the aeration quantity, control the size of an inner chamber of the airbag and adapt to the clamping function of the conduits in different diameters. A foil gauge is arranged on an elastic spoke plate between the airbag casing pipe and an outer casing pipe, so that the measurement of a pushing force and a twisting force is realized by using the deformation of the foil gauge. The airbag clamping device is capable of not only realizing both the measurements of two orthogonal direction feedback forces, but also ensuring the measurement result to be accurate due to a smaller inertia.
Description
Technical field
The present invention relates to a kind of air bag clamping device that feeds back the interventional procedure resistance, be specifically related to a kind of clamping device that is used for Wicresoft's intervene operation delivery conduit and can directly feeds back push-and-pull and twist operation resistance function.
Background technology
Wicresoft's intervene operation has plurality of advantages in the blood vessel, has at home and abroad obtained widely and has used.As the conduit of main tool, during the course and the contact force information between the blood vessel wall determined the safety of interventional procedure to a great extent.Along with the development of medical auxiliary robot technology, the thought that the principal and subordinate gets involved begins to introduce blood vessel Wicresoft and gets involved the field.This mode of operation can make that not only the doctor breaks away from operative site, thereby avoids radiation injury, has also simplified doctor's operation greatly, and makes course of conveying more accurate and stable.It should be noted that in traditional interventional procedure the doctor can be through the resistance of hand perception intervention procedure, the corresponding adjustment.Though this manual mode of operation can't accurately be known the resistance size, can avoid dangerous to a certain extent and take place.The principal and subordinate operates the disappearance that this change on mode of operation has brought force feedback information, and this problem is extremely important and need to be resolved hurrily.If there is not force feedback, the safety that utilizes isolated plant to realize that conduit is got involved has no way of ensureing.
At present, the conduit conveyer device of having researched and developed generally adopts the friction wheel set as the clamper of conduit and accomplish conveying function.Wherein only a few has push-and-pull and two kinds of force feedback functions of twist operation concurrently; Most force feedback is to realize through the moment of torsion of testing of electric motors; Because conduit clamping function setting is at the end of conveyer device; Directly contact with conduit, and resistance information to be passed through multiple drive mechanism, must receive serious disturbance.And since the advance and retreat of conduit and rotate to be the motion of orthogonal direction be difficult under the interference prerequisite of avoiding drive mechanism to bring, directly both direction power tested.In addition, because the test of force feedback is a dynamic process, the inertia that quality embodied between end effector to the sensor test position also needs to reduce as far as possible.Mechanical contact can not circumferentially fully be surrounded conduit at conduit usually, causes the conduit distortion that is squeezed, even destroys conduit, the increase operation risk.Current pipe guide does not consider that terminal clamper should satisfy disposable requirement, is convenient to change.If do not address the above problem, the operator just can not accurately be known the stressing conditions of conduit, causes the blood vessel wall perforation or causes multiple complications.
Summary of the invention
In order to overcome force feedback information that existing conduit conveyer device can not accurately obtain push-and-pull and twist operation, have big inertia, to be difficult to satisfy the problem that multiple diameter conduit clamping demand and employing mechanical grip mode cause deformation of guide tube; The present invention proposes a kind of air bag clamping device that feeds back the interventional procedure resistance; This device is realized the clamping of conduit by air bag; Feedback by axially realize the operation resistance on the elasticity disc with the foil gauge of radially placing is fit to the conveying of different size conduit.
The technical scheme that the present invention adopts is following:
The present invention includes air bag, air bag sleeve pipe, air pump, pressure measuring cavity, trachea and baroceptor; Said air bag and air bag are telescopic joint and do not have at hoop and to relatively rotate; Both sides at the telescopic end of air bag are respectively arranged with baffle plate; Air pump links to each other with pressure measuring cavity, trachea and air bag in proper order, and baroceptor is set in pressure measuring cavity.
The present invention also includes device for force feedback; Said device for force feedback comprises at least one elasticity disc, two foil gauges and a trocar sheath; Said trocar sheath is arranged at outside the air bag sleeve pipe; Between air bag sleeve pipe and trocar sheath, be provided with the elasticity disc, axially and radially be provided with foil gauge on an elasticity disc therein.Said air bag periphery has at least two convexities, and the Air sac cover tube cavity has the groove that matches with the air bag convexity.Said air bag is the air bag with round and elastic inner chamber.
Beneficial effect of the present invention:
1. the realization that the clamping of conduit operation can be simple and convenient among the present invention; Measure the pressure measuring cavity pressure inside through baroceptor and limit the inner aeration quantity of air bag; Pressure through changing in the air bag provides enough frictions, to reduce skidding and to the relevance grade of various outer diameter conduit, behind the airbag aeration; Closely contact between its surface of internal cavity and the conduit, thereby clamp conduit.Force value through the monitoring baroceptor makes conduit keep cross sectional shape, does not damage conduit.Parts accomplishing the clamping operation can be changed easily, and air bag is convenient to dismounting from the air bag sleeve pipe, meets disposable requirement.And can adjust its operation according to force feedback information, guarantee that the conduit intervention procedure is safe and effective, and improve the efficient that conduit is carried.
2. the elasticity disc of the present invention between air bag sleeve pipe and trocar sheath axially upwards is provided with foil gauge with the footpath; Utilizing it to be out of shape realizes push-pull effort and reverses force measurement; Not only can take into account two kinds of orthogonal direction feedback force measurements, also guarantee that because of having less inertia test result is accurate.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 looks for the left side of Fig. 1 and partly cuts open sketch map.
Fig. 3 is that air bag is connected partial schematic diagram with balloon catheter.
Fig. 4 is the inflation sketch map of air bag of the present invention.
Among the figure: 1. trocar sheath, 2. baffle plate, 3. pin, 4. elasticity disc, 5. air bag sleeve pipe, 6. air bag, 7. first foil gauge, 8. second foil gauge, 9. groove, 10. convexity; 20. air pump, 21. baroceptors, 22. pressure measuring cavities, 23. tracheas, 24. conduits, 25. output signal lines.
The specific embodiment
Describe the present invention below in conjunction with accompanying drawing and embodiment:
Embodiment 1: as depicted in figs. 1 and 2; The present invention includes air bag 6, air bag sleeve pipe 5, air pump 20, pressure measuring cavity 22, trachea 23 and baroceptor 21, said air bag 6 is connected with air bag sleeve pipe 5 and does not have a relative motion, is respectively arranged with baffle plate 2 in the both sides of an end of air bag sleeve pipe 5; Air pump 20 links to each other with pressure measuring cavity 22, trachea 23 and air bag 6 orders; Baroceptor 21 is set in pressure measuring cavity 22, and the output signal line 25 of baroceptor 21 is connected with the external pneumatic panel, through baroceptor 21 monitorings; To change the pressure in the air bag 6, adapt to different-diameter conduit 24.Baffle plate described in this example 2 connects through pin 3, and baffle plate 2 can be rotated around pin 3.Said air bag 6 is for having the air bag of round and elastic inner chamber.
Said air bag 6 peripheries have at least two convexities 10 (this example is four convexities 10), and air bag sleeve pipe 5 inner chambers have the groove 9 that matches with air bag 6 convexities.
This routine clamping function cooperates realization by air bag 6, air bag sleeve pipe 5, air pump 20, pressure measuring cavity 22 and trachea 23.When after conduit 24 is sent into the inner chamber of air bag 6, needing to clamp, inflate to air bag 6 through pressure measuring cavity 22 and trachea 23 by air pump 20.Receive the effect of air pressure, air bag 6 begins to expand, because the rigidity of air bag sleeve pipe 5 is bigger, and air bag 6 inner chambers are in free state, and air bag 6 inner chambers dwindle, thereby clamp conduit 30.In the process of inflation, measure pressure measuring cavity 22 pressure inside by baroceptor 21.When air pressure reach clamp the required numerical value of conduit 24 after, air pump cuts out to keep existing pressure, make conduit 24 be in clamped condition.Wherein said conduit 24 also can be seal wire.
Embodiment 2: on the basis of embodiment 1, increase device for force feedback like Fig. 1, this example of Fig. 2; Said device for force feedback comprises at least one elasticity disc 4, first, second foil gauge 7,8 and trocar sheath 1; Said trocar sheath 1 is arranged at outside the air bag sleeve pipe 5; Between air bag sleeve pipe 5 and trocar sheath 1, be provided with elasticity disc 4, axially and radially be respectively arranged with first, second foil gauge 7,8 on elasticity disc 4 therein.
As shown in Figure 3, these routine said air bag 6 peripheries have four convexities 10, and the groove 9 that matches with it also is four.
This routine twisting resistance feedback is to be cooperated by second foil gauge 13, air bag sleeve pipe 5, trocar sheath 1 and four elasticity disc 4 to realize.Clamp under the prerequisite of conduit 24 at air bag 6, trocar sheath 1 is applied the effect of moment of torsion.This moment of torsion reaches air bag sleeve pipe 5 through four elasticity disc 4, and then reaches conduit 24 through air bag 6.In this process, owing to receive the combined effect of trocar sheath 1 and air bag sleeve pipe 5, four elasticity disc 7 can deform, and make second foil gauge 13 deform.This deformable body has revealed the size of moment of torsion, can be calculated by elastomeric elastic modelling quantity, also can obtain through load test.
Embodiment 3: this example is identical with embodiment 2 overall structures, and different is: air bag 6 peripheries have three convexities 10 in this example, and the groove 9 that matches with it also is three.Elasticity disc 4 is one.
Embodiment 4: this example is identical with embodiment 2 overall structures, and different is: air bag 6 peripheries have two convexities 10 in this example, and the groove 9 that matches with it also is two.Elasticity disc 4 is three.
Operation principle of the present invention:
As shown in Figure 4, among the present invention the replacing process of air bag 6 relate to air pump 20, baroceptor 21, pressure measuring cavity 22, trachea 23, air bag 6, two baffle plates 2 and pin 3.At first by air pump 20 gas in the air bag 6 is extracted out, the pressure in the pressure measuring cavity 22 that baroceptor 21 is fed back is little to unclamp conduit 24 to air bag 6, withdraws from conduit 24.Baffle plate 2 is dialed to vertical state clockwise around pin 3, trachea 23 is extracted from air bag sleeve pipe 5 together with air bag 6.Again trachea 23 is separated with air bag 6 and get final product.Installation process and unloading process are opposite.The cost of manufacture of air bag 6 is low, satisfies disposable instructions for use.
The present invention cooperates completion to the adaptability of the conduit 24 of different-diameter by air bag 6, air pump 20, baroceptor 21, pressure measuring cavity 22 and trachea 23.Air bag 6 expands under the effect of air pressure, and its radial dimension can change, and inner chamber diminishes.24 in conduit for different-diameter embodies good adaptability.In air pump 20 inflation pressurizations, be passed in the process of air bag 6 through pressure measuring cavity 22, trachea 23, baroceptor 21 monitoring air pressure sizes, when arriving specific dimensions conduit 24 pairing pressure, it is constant to keep-up pressure.
The present invention is after inflation; The inner surface of air bag 6 receives uniform pressure; Make its surface of internal cavity and conduit 24 closely contact at circumferencial direction, the gas replenishment process of the pressure size control air pump 20 that is fed back through baroceptor 21 can not influence the circular cross-section that keeps conduit 24 to be had.
The present invention measures the pressure measuring cavity pressure inside baroceptor and limits the inner aeration quantity of air bag, thereby clamps conduit.When air bag clamps conduit, trocar sheath is applied time spent of doing of push-pull effort, foil gauge can deform, thereby realizes the push-and-pull force measurement.When air bag clamps conduit, trocar sheath is applied time spent of doing of moment of torsion, foil gauge can deform, thereby realizes the measurement of moment of torsion.
Claims (4)
1. air bag clamping device that can feed back the interventional procedure resistance; It is characterized in that: comprise air bag, air bag sleeve pipe, air pump, pressure measuring cavity, trachea and baroceptor; Said air bag and air bag are telescopic joint and do not have at hoop and to relatively rotate; Both sides at the telescopic end of air bag are respectively arranged with baffle plate, and air pump links to each other with pressure measuring cavity, trachea and air bag in proper order, and baroceptor is set in pressure measuring cavity.
2. according to the said air bag clamping device that feeds back the interventional procedure resistance of claim 1; It is characterized in that: also include device for force feedback; Said device for force feedback comprises at least one elasticity disc, two foil gauges and a trocar sheath; Said trocar sheath is arranged at outside the air bag sleeve pipe, between air bag sleeve pipe and trocar sheath, is provided with the elasticity disc, axially and radially is provided with foil gauge on an elasticity disc therein.
3. according to the said air bag clamping device that feeds back the interventional procedure resistance of claim 1, it is characterized in that: said air bag periphery has at least two convexities, and the Air sac cover tube cavity has the groove that matches with the air bag convexity.
4. according to the said air bag clamping device that feeds back the interventional procedure resistance of claim 1, it is characterized in that: said air bag is the air bag with round and elastic inner chamber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110054152 CN102671280B (en) | 2011-03-08 | 2011-03-08 | Airbag clamping device with function of feeding back intervention operation resistance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110054152 CN102671280B (en) | 2011-03-08 | 2011-03-08 | Airbag clamping device with function of feeding back intervention operation resistance |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102671280A true CN102671280A (en) | 2012-09-19 |
| CN102671280B CN102671280B (en) | 2013-04-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110054152 Expired - Fee Related CN102671280B (en) | 2011-03-08 | 2011-03-08 | Airbag clamping device with function of feeding back intervention operation resistance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102671280B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103940629A (en) * | 2014-04-18 | 2014-07-23 | 宜兴市产品质量监督检验所 | Surface aeration equipment detection pond |
| CN106441679A (en) * | 2016-11-30 | 2017-02-22 | 江苏风和医疗器材有限公司 | Sleeve friction testing method |
| CN106546371A (en) * | 2016-11-30 | 2017-03-29 | 江苏风和医疗器材有限公司 | Sleeve friction force test device |
| CN108099077A (en) * | 2017-12-16 | 2018-06-01 | 吕丽 | A kind of demoulding cutter device for preparing Capsules |
| CN108344687A (en) * | 2018-03-17 | 2018-07-31 | 中国烟草总公司郑州烟草研究院 | A kind of color fastness to saliva test pressure clamping device and clamp method |
| CN108814943A (en) * | 2018-05-28 | 2018-11-16 | 西安交通大学医学院第附属医院 | Multifunctional hip bath device |
| CN109263069A (en) * | 2018-10-15 | 2019-01-25 | 苍南县兴泰清洁用品有限公司 | A kind of dirt stick process equipment |
| CN111529364A (en) * | 2020-06-01 | 2020-08-14 | 陈澜祯 | Intelligent medical ozone therapeutic instrument that dustproof respond well based on thing networking |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5084016A (en) * | 1989-09-05 | 1992-01-28 | Freeman Andrew B | Epidural catheter apparatus with an inflation fitting |
| US5830183A (en) * | 1997-06-30 | 1998-11-03 | Schneider (Usa) Inc | Clip device for vascular catheter |
| JP2003038655A (en) * | 2001-08-01 | 2003-02-12 | Hakko Medical:Kk | Gastric fistula catheter and sheathed dilator for wearing the same |
| CN101015465A (en) * | 2007-03-06 | 2007-08-15 | 杨发 | Blood vessel intervening guide wire holding protection equipment |
| CN201988021U (en) * | 2011-03-08 | 2011-09-28 | 中国科学院沈阳自动化研究所 | Airbag clamping device capable of feeding back intervened operation resistance |
-
2011
- 2011-03-08 CN CN 201110054152 patent/CN102671280B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5084016A (en) * | 1989-09-05 | 1992-01-28 | Freeman Andrew B | Epidural catheter apparatus with an inflation fitting |
| US5830183A (en) * | 1997-06-30 | 1998-11-03 | Schneider (Usa) Inc | Clip device for vascular catheter |
| JP2003038655A (en) * | 2001-08-01 | 2003-02-12 | Hakko Medical:Kk | Gastric fistula catheter and sheathed dilator for wearing the same |
| CN101015465A (en) * | 2007-03-06 | 2007-08-15 | 杨发 | Blood vessel intervening guide wire holding protection equipment |
| CN201988021U (en) * | 2011-03-08 | 2011-09-28 | 中国科学院沈阳自动化研究所 | Airbag clamping device capable of feeding back intervened operation resistance |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103940629A (en) * | 2014-04-18 | 2014-07-23 | 宜兴市产品质量监督检验所 | Surface aeration equipment detection pond |
| CN106441679A (en) * | 2016-11-30 | 2017-02-22 | 江苏风和医疗器材有限公司 | Sleeve friction testing method |
| CN106546371A (en) * | 2016-11-30 | 2017-03-29 | 江苏风和医疗器材有限公司 | Sleeve friction force test device |
| CN106546371B (en) * | 2016-11-30 | 2019-06-18 | 江苏风和医疗器材股份有限公司 | Sleeve friction force test device |
| CN106441679B (en) * | 2016-11-30 | 2020-01-07 | 江苏风和医疗器材股份有限公司 | Casing friction force testing method |
| CN108099077A (en) * | 2017-12-16 | 2018-06-01 | 吕丽 | A kind of demoulding cutter device for preparing Capsules |
| CN108344687A (en) * | 2018-03-17 | 2018-07-31 | 中国烟草总公司郑州烟草研究院 | A kind of color fastness to saliva test pressure clamping device and clamp method |
| CN108814943A (en) * | 2018-05-28 | 2018-11-16 | 西安交通大学医学院第附属医院 | Multifunctional hip bath device |
| CN109263069A (en) * | 2018-10-15 | 2019-01-25 | 苍南县兴泰清洁用品有限公司 | A kind of dirt stick process equipment |
| CN111529364A (en) * | 2020-06-01 | 2020-08-14 | 陈澜祯 | Intelligent medical ozone therapeutic instrument that dustproof respond well based on thing networking |
| CN111529364B (en) * | 2020-06-01 | 2021-11-23 | 陈澜祯 | Intelligent medical ozone therapeutic instrument based on Internet of things |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102671280B (en) | 2013-04-24 |
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Granted publication date: 20130424 |