CN102772847B - Device for measuring conduit interventional force and torque in cardiovascular interventional operation in real time - Google Patents

Abstract

The embodiment of the invention discloses a device for measuring conduit interventional force and torque in a cardiovascular interventional operation in real time. The device comprises an outer support, an inner shaft, force sensors, bolts and nylon fasteners, wherein each force sensor is adhered to the inner circumference of the outer support; the inner shaft is placed in the outer support with the force sensors; the outer wall of the inner shaft is in interference contact with each steel ball of each force sensor; male end and female end nylon fasteners suitable for winding a thumb or a forefinger are cut; holes are formed in at the bottom ends of the male end and female end nylon fasteners in a cutting way to enable the bolts to pass through; the bolts pass through a female end thread gluing, an inner shaft screw hole and a male end thread gluing and are screwed by using nuts; and the nylon fasteners are used to adapt to the sizes of different fingers of operators, so that the operator wears the device to clamp a conduit in the operation to ensure that the conduit does translation or twisting movement. By using the device, stress information in an operation process can be monitored, and the safety of the operation is improved; and by acquiring the operating force and the operating torque of an experienced physician, the device provides quantitative evaluation standards for a virtual training system of the cardiovascular interventional operation at the same time.

Description

Conduit is got involved the device of power and moment in a kind of real-time measurement cardiovascular intervene operation

Technical field

The present invention relates to technical field of medical instruments, relate in particular to the device that conduit in a kind of real-time measurement cardiovascular intervene operation is got involved power and moment.

Background technology

At present, Wicresoft's intervene operation in the medical procedure is not operated on it, wound is little, recover fast, good effectiveness and the main means of present hospital clinical treatment of becoming, the operating process of Wicresoft's intervene operation is: at first the doctor opens an osculum in patient upper leg or other positions of health, the doctor is seal wire then, blood vessel from here such as conduit enters, then the doctor they rotate on one side with handgrip, send on one side, arrive the position that needs treatment with feel and experience, because flagelliform Wicresoft interposing catheter, greatly reduce the doctor to the impression of the interaction force of operating theater instruments and tissue, increased the danger of operation.

Send in the process of conduit, seal wire above-mentioned doctor, wire catheter has only two degree of freedom, one is rotation, one is backward ahead running forward, we need carry out the measurement of power and moment at these two degree of freedom, thereby carry out stressed monitoring, but the prior art scheme to the research of power and moment in the wire catheter intervention procedure seldom, lack effective means and device in the prior art scheme and come real-time measuring guide to get involved power and moment, thereby increased surgical risk.

Summary of the invention

The purpose of this invention is to provide conduit in a kind of real-time measurement cardiovascular intervene operation and get involved the device of power and moment, realize the stressed information monitoring in the operation process, improve operation safety; Simultaneously can also be by obtaining experienced doctor's operating physical force and moment, for virtual cardiovascular intervene operation training system provides the quantitative assessment standard.

The objective of the invention is to be achieved through the following technical solutions, conduit is got involved the device of power and moment in a kind of real-time measurement cardiovascular intervene operation, and described device comprises outer support, interior axle, force transducer, screw and velcro;

Described force transducer comprises three, and four stitch of each force transducer are burn-on and sticked on described outer support inner periphery by double faced adhesive tape behind the line;

Described outer support is cylindrical drum, axle is positioned in the outer support that installs force transducer in described, the outer wall of interior axle contacts with the steel ball interference of three force transducers respectively, and a described interior axle bottom contacts with described outer support inner face, and the axis of interior axle and the dead in line of outer support;

Suitable male end and the female end velcro that twines thumb or forefinger of cutting, cutting the hole in described velcro bottom passes screw, described screw passes female end thread gluing, interior axle screw hole, male end thread gluing, and use nut screwing clamping, by the size of described velcro with the person that adapts to different operating finger, the conduit that the operator is worn in the described device clamping operation makes described conduit carry out translation or twist motion;

When the external world contacts the generation resistance with catheter tip or duct wall, the outer support and the interior axle that become one with described conduit can produce relative motion trend, pressure to three force transducers changes, and comes suffered resistance and the moment of resistance in the measuring guide real time kinematics according to the reading of these three force transducers.

Described device is worn over intervention power and the moment of measuring conduit in the cardiovascular intervene operation on thumb and the forefinger in real time respectively.

Described three force transducers are evenly distributed on three planes of 120 ° of described outer support inner peripherys, the inner headed face of described outer support vertically 120 ° cut out flat sidewall to adhere to described force transducer.

Described device also comprises end cap, and described end cap contacts with the upper surface of described outer support and aligns, and rotating end cap is coaxial to the screwed hole of the stepped hole of end cap and outer support upper surface.

As seen from the above technical solution provided by the invention, described device comprises outer support, interior axle, force transducer, screw and velcro; Described force transducer comprises three, and four stitch of each force transducer are burn-on and sticked on described outer support inner periphery by double faced adhesive tape behind the line; Described outer support is cylindrical drum, axle is positioned in the outer support that installs force transducer in described, the outer wall of interior axle contacts with the steel ball interference of three force transducers respectively, and a described interior axle bottom contacts with described outer support inner face, and the axis of interior axle and the dead in line of outer support; Suitable male end and the female end velcro that twines thumb or forefinger of cutting, cutting the hole in described velcro bottom passes screw, described screw passes female end thread gluing, interior axle screw hole, male end thread gluing, and use nut screwing clamping, by the size of described velcro with the person that adapts to different operating finger, the conduit that the operator is worn in the described device clamping operation makes described conduit carry out translation or twist motion; When the external world contacts the generation resistance with catheter tip or duct wall, the outer support and the interior axle that become one with described conduit can produce relative motion trend, pressure to three force transducers changes, and comes suffered resistance and the moment of resistance in the measuring guide real time kinematics according to the reading of these three force transducers.Just can realize the stressed information monitoring in the operation process by this device, improve operation safety; Simultaneously can also be by obtaining experienced doctor's operating physical force and moment, for virtual cardiovascular intervene operation training system provides the quantitative assessment standard.

Description of drawings

In order to be illustrated more clearly in the technical scheme of the embodiment of the invention, the accompanying drawing of required use is done to introduce simply in will describing embodiment below, apparently, accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite of not paying creative work, can also obtain other accompanying drawings according to these accompanying drawings.

Fig. 1 is the device operation chart that conduit is got involved power and moment in the described real-time measurement cardiovascular intervene operation of the embodiment of the invention;

Fig. 2 is each exploded sketch of the described device of the embodiment of the invention;

Fig. 3 is the vertical view after the described device of the embodiment of the invention removes end cap.

The specific embodiment

Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on embodiments of the invention, those of ordinary skills belong to protection scope of the present invention not making the every other embodiment that obtains under the creative work prerequisite.

Below in conjunction with accompanying drawing invention is further described in detail, be illustrated in figure 1 as conduit in the described real-time measurement cardiovascular intervene operation of the embodiment of the invention and get involved the device operation chart of power and moment, be illustrated in figure 2 as each exploded sketch of this device, as shown in Figure 1: doctor's thumb and forefinger are put on embodiment of the invention device 1 respectively in actual mechanical process, and 2 pairs of conduits of clamping conduit advance or pull back and carry or reverse then.

As shown in Figure 2, described device 1 comprises 3, three one dimension power of outer support force transducer 4, interior axle 5, and 6, three screws 7 of end cap and nut 8, pad 9, velcro 10 and screw 11, wherein:

Three force transducers 4 stick to the inwall of outer support 3 respectively by double faced adhesive tape, the inwall of outer support 3 is divided equally by 120 °, the lining face of making is to attach force transducer 4, and the gap system between the planar wall of outer support 3 and circular arc are faced the wall and meditated is used for force transducer and amplifying circuit external cabling passage.

Be illustrated in figure 3 as the vertical view after the described device of the embodiment of the invention removes end cap, in conjunction with Fig. 2 and 3 as can be known, outer support 3 is a cylindrical drum, the interior axle 5 coaxial outer supports 3 that install force transducer 4 of putting into, interior axle 5 bottom faces contact with outer support 3 inner faces, interior axle 5 outer walls contact with the steel ball interference of three force transducers 4, and the axis of interior axle and the dead in line of outer support.

Suitable male end and the female end velcro that twines thumb or forefinger of cutting, cutting the hole in described velcro bottom passes screw 7, described screw 7 passes female end velcro, interior axle screw hole, male end velcro, and use nut screwing clamping, by the size of described velcro with the person that adapts to different operating finger, the conduit that the operator is worn in the described device clamping operation makes described conduit carry out translation or twist motion; In specific implementation, can move the 10mm place in the thread gluing bottom and cut the hole to make diameter be that the screw of 1.6mm passes.

In the specific implementation, when the external world contacts the generation resistance with catheter tip or duct wall, the outer support and the interior axle that become one with described conduit can produce relative motion trend, pressure to three force transducers changes, and comes suffered resistance and the moment of resistance in the measuring guide real time kinematics according to the reading of these three force transducers.

Described device is worn over intervention power and the moment of measuring conduit in the cardiovascular intervene operation on thumb and the forefinger in real time respectively.

Above-mentioned three force transducers can be evenly distributed on three planes of 120 ° of described outer support inner peripherys, the inner headed face of described outer support vertically 120 ° cut out flat sidewall to adhere to described force transducer.In the specific implementation, if force transducer is a plurality of, then still be evenly distributed on the described outer support inner periphery.

In the specific implementation, said apparatus also comprises end cap 6, and as shown in Figure 2, end cap 6 connects with outer support 3 by three screws 7, and screw 11 passes female end velcro 10, interior axle 5 screwed holes, male end velcro 10, and pad 9 usefulness nuts 8 are tightened.

Operation principle to the described device of the embodiment of the invention is elaborated below, referring to Fig. 1, when user when thumb and forefinger are put on the described device 1 clamping conduit of present embodiment respectively as shown in Figure 1, because frictional force, conduit 2 becomes one with outer support 3, do not have relative motion, three force transducers 4 adhere to outer support 3 and become one with outer support 3, and interior axle 5 contacts with the steel ball interference of three force transducers and makes three force transducers acquisition pretension values.

Owing to adopt the smaller material outer support 3 of coefficient of friction and interior axle 5, outer support inner face and the lower surface friction of interior axle can be ignored, when extraneous (for example blood vessel) contacts the generation resistance with catheter tip or duct wall, the outer support 3 that becomes one with conduit will produce relative motion trend with interior axle 2, pressure to three force transducers 4 will change, and just can draw suffered resistance and the moment of resistance in the conduit real time kinematics through calculated with mathematical model according to the reading of three force transducers 4 this moment.

For example can adopt following power computing formula, the force bearing formulae on the thumb is:

F wherein ₁, F ₂, F ₃It is the reading that is worn over three force transducers on the thumb.

Force bearing formulae on the forefinger is:

Wherein, F ₄F ₅, F ₆It is the reading that is worn over three force transducers on the forefinger.

Further drawing total power F again is:

$F=F_x^{\mathrm{TF}}\cos {\mathrm{\α}}_{\mathrm{TF}}+F_y^{\mathrm{TF}}\sin {\mathrm{\α}}_{\mathrm{TF}}+F_x^{\mathrm{IF}}\cos {\mathrm{\α}}_{\mathrm{IF}}+F_y^{\mathrm{IF}}\sin {\mathrm{\α}}_{\mathrm{IF}}$

Wherein, α _IFAnd α _TFCoordinate system angle [alpha] for forefinger and device that thumb is worn and conduit.Can two coordinate systems be overlapped by operating artificial control in experiment, namely α be 0 °.

In like manner, the computing formula of moment can draw:

$\mathrm{\τ}=F_f^{\mathrm{TF}}\·d_{\mathrm{TF}}{+F}_f^{\mathrm{IF}}\·d_{\mathrm{IF}}$

$\left\{\begin{array}{c}{F}_f^{\mathrm{TF}}=F_x^{\mathrm{TF}}\sin {\mathrm{\α}}_{\mathrm{TF}}+F_y^{\mathrm{TF}}\cos {\mathrm{\α}}_{\mathrm{TF}}\\ F_f^{\mathrm{IF}}=F_x^{\mathrm{IF}}\sin {\mathrm{\α}}_{\mathrm{IF}}+F_y^{\mathrm{IF}}\cos {\mathrm{\α}}_{\mathrm{IF}}\end{array}\right.$

D wherein _TFAnd d _IFRepresent that respectively thumb and forefinger wear plane, place, force transducer steel ball top in the device to the distance of conduit axis;

Be the radially stressed size of device on the forefinger,

Be the radially stressed size of device on the thumb.

Just can draw suffered resistance and the moment of resistance in the conduit real time kinematics according to the reading of three force transducers thus, realize the stressed information monitoring in the operation process, improve operation safety; Simultaneously can also be by obtaining experienced doctor's operating physical force and moment, for virtual cardiovascular intervene operation training system provides the quantitative assessment standard.

The above; only for the preferable specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, and anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.

Claims (4)

1. measure in real time the device that conduit in the cardiovascular intervene operation is got involved power and moment for one kind, described device comprises outer support, and interior axle is characterized in that described device also comprises force transducer, screw and velcro;

Described force transducer comprises three, and four stitch of each force transducer are burn-on and sticked on described outer support inner periphery by double faced adhesive tape behind the line;

Described outer support is cylindrical drum, axle is positioned in the outer support that installs force transducer in described, the outer wall of interior axle contacts with the steel ball interference of three force transducers respectively, and a described interior axle bottom contacts with described outer support inner face, and the axis of interior axle and the dead in line of outer support;

Suitable male end and the female end velcro that twines thumb or forefinger of cutting, cutting the hole in described velcro bottom passes screw, described screw passes female end thread gluing, interior axle screw hole, male end thread gluing, and use nut screwing clamping, by the size of described velcro with the person that adapts to different operating finger, the conduit that the operator is worn in the described device clamping operation makes described conduit carry out translation or twist motion;

When the external world contacts the generation resistance with catheter tip or duct wall, the outer support and the interior axle that become one with described conduit can produce relative motion trend, pressure to three force transducers changes, and comes suffered resistance and the moment of resistance in the measuring guide real time kinematics according to the reading of these three force transducers.

2. the device of conduit intervention power and moment in the real-time measurement cardiovascular intervene operation as claimed in claim 1 is characterized in that,

Described device is worn over intervention power and the moment of measuring conduit in the cardiovascular intervene operation on thumb and the forefinger in real time respectively.

3. the device of conduit intervention power and moment in the real-time measurement cardiovascular intervene operation as claimed in claim 1 is characterized in that,

Described three force transducers are evenly distributed on three planes of 120 ° of described outer support inner peripherys, the inner headed face of described outer support vertically 120 ° cut out flat sidewall to adhere to described force transducer.

4. the device of conduit intervention power and moment in the real-time measurement cardiovascular intervene operation as claimed in claim 1 is characterized in that,

Described device also comprises end cap, and described end cap contacts with the upper surface of described outer support and aligns, and rotating end cap is coaxial to the screwed hole of the stepped hole of end cap and outer support upper surface.

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