CN103239241A - Optical force measuring element and microsurgical device - Google Patents
Optical force measuring element and microsurgical device Download PDFInfo
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- CN103239241A CN103239241A CN2012102235676A CN201210223567A CN103239241A CN 103239241 A CN103239241 A CN 103239241A CN 2012102235676 A CN2012102235676 A CN 2012102235676A CN 201210223567 A CN201210223567 A CN 201210223567A CN 103239241 A CN103239241 A CN 103239241A
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Abstract
The invention relates to an optical force measuring element and a microsurgical device. The optical force measuring element used for the microsurgical device (22) measures forces F in three orthogonal directions of x, y and z, and has a single cylindrical structure (1) comprising a cylinder surface (4), a top surface (5), and punched notches (6). All the notches are parallel to the y direction, and are separated along the z axis, and two blade parts (7) are formed between these notches. The structure also comprises three channels (8) which extend from the bottom surface to the top surface, pass through one notch, and bypass the other two notches. The force measuring element also comprises three optical fibers (9) fixed in the channels (8). The optical fibers enter the structure (2) from the bottom surface (3), pass through the first notch and end at or near the top surface (5), and are broken off at the first notch; two surfaces (10, 12) of each optical fiber is established through defining a Fabry-Perot interference chamber (13). The invention also relates to a microsurgical device containing the element and a method for manufacturing the element.
Description
Technical field
The present invention relates to the optics load-sensing unit for the micro-surgical instruments of the power F that measures at three orthogonal direction x, y, z, be included in the bottom surface of extending in the x-y plane, z to axis, around the periphery of z axle (being that z is to axis) and the suitable absorption relative with the bottom surface and transmit the single-body type cylindrical structural (monolithic cylinder structure) of power F end face to be measured.
Background technology
In Wicresoft's microsurgery and treatment field, be that the surgeon is the required important parameter of result that improves its intervene operation about the in vivo feedback information (in-vivo feedback information) of the contact force of end slightly that is applied to apparatus or instrument.The entry condition that reduces often influences the sensation of the interaction force between apparatus and the tissue of being treated or the organ, and related power is below people's the threshold of feelings.
Use the palpation program during concrete case of the present invention relates to operation on the middle ear, in order to estimate the mobility of ossicular chain (ossicular chain) during tympanoplasty.Most important for (disease) prognosis (prognosis) that determines operative procedure and improvement hearing level about the ambulant knowledge of ear bones.For example, be used for the typical contact force of ambulant microsurgical tool of estimation stapes less than 10mN, under the threshold value of the tactile sensing degree of operator.
Also be not used at present the three-dimensional strength measurement instrument of middle ear.Unique apparatus of being reported is a kind of instrument of only measuring along an axial direction that is used for the estimation stapes, as publishes the Audiology2006 in International Journal of; 121 pages to 128 pages of 45:121-128(" international audiology's magazine " 45 phases in 2006) paper of the people such as Takuji Koike on " An apparatus for diagnostics of ossicular chain mobility in humans (the ambulant device that is used for diagnosis people's ossicular chain) " is described.
Another Application concrete case of the present invention relates to the little power sensing instrument for the retina microsurgery.The retina microsurgery requires meticulous manipulation retinal tissue, and the contact force of instrument and tissue is usually under people's the threshold of feelings.During the operation on retina, the typical contact force that micro-surgical instruments is held slightly is less than 7.5mN.
Also be not used at present the three-dimensional strength measurement instrument of operation on retina.At " International Journal of Computer Assisted Radiology and Surgery " (Int J CARS, " international auxiliary radiation is learned and the operation magazine ") on April 15th, 2009 the online people such as Iulian Iordachita that publish paper " Asub-millimetri; 0.25mN resolution fully integrated fibre-optic force sensing tool for retinal microsurgery (submillimeter; the optical fiber dynamometric device of the full one retina of 0.25mN resolution microsurgery) " in, reported a kind of apparatus that utilizes the little power on two laterals of Fiber Bragg Grating FBG commercial measurement.
Therefore, expectation provide a kind of for detection of and the end slightly of monitoring micro-surgical instruments or instrument and to be detected and the tissue for the treatment of or the method for the three-dimensional contact force between the organ.
Be used for the known system of having been reported the use optical fiber measurement technology that conduit is used, come the contact force at the place of end slightly of measuring guide, wherein, load-sensing unit is placed in and approaches end place slightly.
As everyone knows, the load-sensing unit that is used for this micro-surgical instruments that conduit uses comprises the single-body type cylindrical structural.Apply three-dimensional force by the end slightly in structure, structure namely is out of shape in the intended manner because of structural one group of otch.These otch define several elastic regions, and some directions that make structure make progress along x, y and/or z are flexible (deflection).Be integrated into the displacement of the separate part of the definite structure of optical fiber permission in the structure, the power of end is directly proportional with being applied to slightly in this displacement.Optical fiber enters structure from the bottom of structure, and is introduced in the passage in one of otch of ending at structure.From the light of optical fiber by structural and optical fiber end facing surfaces reflex reflection.Light enters optical fiber, and estimated to determine the distance on optical fiber end and catoptrical that surface.
The system of the contact force at the known place of end slightly in order to measuring guide before having described in US20080009750, it relates to a kind of unitary structure, and is very complicated in this unitary structure design, and need make the structure rotation during manufacture.In addition, this structure is that a kind of wall thickness is that 0.5mm, overall diameter are the pipe of 5mm.In order to make and the reason of mechanical stability, can not dwindle the size of this structure.
Have three identical similar tubular structures along central axis otch separated from one another shown in the US20090177095.Each otch is all by cutting to make from a side (this side becomes 120 ° of anglecs of rotation with other both sides).In each otch in these three otch, an optical fiber end is used for measuring the distance of the structure relative with this optical fiber end.Some optical fiber can pass other otch inevitably before arriving its destination.Fixing of optical fiber is very harsh.Although this structure must not be rotated, between the cutting of each otch, still must make the structure rotation during the foregoing manufacturing of each independent otch.Precision manufacturing on request is still very expensive.In addition, this structure is rigidity vertically, radially is flexible, so it only is fit to detect the power close to the place of end slightly of this structure.
In WO2009114955, provide another structure.This structure is to make by the plane of cutting restriction blade part in (these planes limit required flex region) any plane in x-y plane, x-z plane or y-z plane.In addition, determined the power of distance to determine to apply in the gap of incision by three optical fiber.This structure can be made lessly, has less than 2.5mm, diameter between 1.7mm and 2mm.Unfortunately, this structure is upwards very big at z, but also complicated, comprises 7 otch.Other form length shown in the same Patent application are less, and include only two or four otch, but they are designed to very soft on perpendicular to the direction of axis (flexible excessive).
These structure manufacturings are simple, but can not be used for above purpose, namely can not be used for operation on the middle ear or retina microsurgery.This class instrument comprises the thin and long axle of end slightly that has of the front portion that is positioned at sensing structure, wherein, because rotary inertia, along perpendicular to the direction of z axle (along x to y to) be applied to the power of end slightly far away to the influence of structure, with along equidirectional but in the power that applies close to the structure place influence of structure is compared, strong 5 to 20 times.
In addition, in order to reduce the risk of infection, medical apparatus and instruments becomes disposable more and more at large.Therefore, structure must be as far as possible simply with the low cost manufacturing.
Therefore all known structures are all used with conduit, are designed to side force Fx, Fy and axial force F z, and wherein, side force is applied to the top near flex region of structure, are not more than three times of diameter d of structure with the distance of flex region.
These structures can not be used for operation, and in the operation, side force is applied to the far-end of the flex region of structure, and wherein distance B reaches 20 times of diameter d of structure.Demonstrate known structure and can not be fit to this application by the size that changes structure.
Summary of the invention
Problem to be solved provides a kind of optics load-sensing unit for micro-surgical instruments, as described in technical field part of the present invention, its low cost of manufacture, and the remolding sensitivity of the z of this structure on the axis is perpendicular to highly sensitive 5 to 20 times on the x-y direction of this axis.Another problem provides a kind of micro-surgical instruments for operation on the middle ear or retina microsurgery, and for the manufacture of the method for described element.The accuracy of sensing element must be high, and low cost of manufacture.And this element must have minor diameter d.
Described problem solves by the following manner feature:
According to one embodiment of present invention, provide a kind of optics load-sensing unit for micro-surgical instruments, in order to measure the power F on three orthogonal direction x, y, the z; This optics load-sensing unit comprises the single-body type cylindrical structural, described single-body type cylindrical structural have the bottom surface of in the x-y plane, extending, z to axis, around periphery from described z to axis and the suitable absorption relative with described bottom surface and transmit the end face of power F to be measured, described structure is characterised in that three punching shape otch; All otch all be parallel to y to, separate to axis along described z, and form two blade parts exactly in the parallel x-y surface between first otch and second otch and between second otch and the three cuts, described structure also comprises three passages; Described passage opens wide or sealing and be parallel to described z to axis to described periphery, extend to described end face from described bottom surface and pass described first otch, walk around two the described otch in addition in the described structure simultaneously, described load-sensing unit also comprises three optical fiber; Each described optical fiber is fixed on a passage in described three passages; All described optical fiber all enter described structure from described bottom surface, pass described first otch and stop at described end face place or near described end face, in described first otch, be interrupted simultaneously, set up two surfaces of each optical fiber by limiting the Fabry-Perot interference chamber.
In the described element, described passage all can open wide along its length in described structure to described periphery.
In the described element, described optical fiber can be by adhesive in described passage.
In the described element, described structure can be titanium, pottery, polymer, rustless steel or corrosion resistant metal.
In the described element, described otch can be with respect to the x-z plane mirror picture symmetry of centre, and described otch can have 180 ° of rotation symmetrical relationss according to center y axle.
In the described element, described structure can comprise temperature measuring equipment.
In the described element, at neutral position, the gap in each the Fabry-Perot interference chamber between described two surfaces of each interrupted optical fiber can be between 0.01mm between the 0.1mm.
In the described element, described first otch can have 0.05mm to the z of 0.5mm to width.
In the described element, described first otch can comprise mechanical stop, in order to protect the end of described optical fiber and fiber segment.
In the described element, described structure can have the external diameter of 0.5mm on the x-y direction of 4mm.
In the described element, described structure can have 0.02mm to the blade part thickness of 0.4mm.
In the described element, the surface of described optical fiber and/or fiber segment can scribble semi-reflective coating layer.
In the described element, the thermal coefficient of expansion of described structure can mate the thermal coefficient of expansion of described optical fiber and/or fiber segment.
In the described element, the thermal coefficient of expansion of fiber segment can mate the thermal coefficient of expansion of described structure.
In the described element, described end face can comprise the joint for installation shaft.
Described element can comprise the central through hole along described z to axis.
According to another embodiment of the present invention, a kind of micro-surgical instruments is provided, it comprise be installed in the housing according to the described element of one of aforementioned claim and the cable that comprises optical fiber that has adapter, wherein, on the described end face major axis is installed, described major axis stretches out outside the described housing and has limited end slightly.
According to still another embodiment of the invention, a kind of method of making element of the present invention is provided, wherein, make three independent continuous optical fiber of the optical fiber end of riving or polishing with 0 ° of angle enter the passage of opening wide of described structure or sealing from described bottom surface, arrive described first otch; And make three fiber segments of the optical fiber end of riving or polishing with 0 ° of angle enter described passage from described end face, arrive described first otch; And wherein, by the surface of the described optical fiber end that is parallel to each other, and by between described optical fiber end, limiting described Fabry-Perot interference chamber, described optical fiber and described fiber segment are fixed to the both sides of described first otch of described structure.
In the described manufacture method, the described structure that three independent continuous optical fiber are entered from described bottom surface have described otch open wide or the passage of sealing in, also arrive described end face or near described end face through described first otch; And wherein, three continuous optical fiber at first are fixed to described structure by the both sides at described first otch; And wherein, after this also described continuous optical fiber is divided in the zone of optical fiber and fiber segment in the described Fabry-Perot interference of the restriction of described first otch chamber, described optical fiber preferably is cut by the laser capture microdissection machined.
In the described method, all three otch all can be by discharge processing (EDM), by making to the described structure of cutting along y during the translational motion with respect to the x-z plane of described structure.
Basic design of the present invention is to make unitary structure include three otch, and all otch all are made into to be the punching shape according to the mode that forms two blade parts between these otch from equidirectional; And this structure comprises three optical fiber that are fixed in the passage parallel with the z axle, enter bottom surface and arrival or close end face; Yet have the passage of optical fiber only to pass first otch, walk around two otch in addition in the structure simultaneously, all optical fiber have Fabry-Perot interference chamber (Fabry-Perot cavity) in first otch.
Above-mentioned three otch preferably cut discharge processing by the Wire-EDM(line) make.Because this structural otch is designed to the punching shape, so during the whole process of machined otch, this structure needn't be rotated.Improve the precision of structure like this and reduced manufacturing cost.
Description of drawings
The following drawings illustrates a plurality of preferred embodiment of the present invention:
Fig. 1 is the sketch map according to micro-surgical instruments of the present invention that is connected to evaluation unit;
Fig. 2 illustrates by the longitudinally cutting figure according to micro-surgical instruments of the present invention;
Fig. 3 illustrates the axonometric chart according to optics load-sensing unit of the present invention;
Fig. 4 illustrates the longitudinally cutting figure of the optics load-sensing unit by according to a preferred embodiment of the invention;
Fig. 5 illustrates the sectional view of the optics load-sensing unit of Fig. 4;
Fig. 6 a to Fig. 6 c illustrates the passage that has optical fiber of three preferred forms.
Wherein, description of reference numerals is as follows:
1 optics load-sensing unit
2 structures, single-body type, cylindrical
3 bottom surfaces
4 peripheries
5 end faces
6 otch
7 blade parts
8 passages
9 optical fiber
The surface of 10 optical fiber
11 fiber segments
The surface of 12 fiber segments
13 Fabry-Perot interference chambeies, distance, gap
14 temperature measuring equipments
15 mechanical stops
16 joints
17
18 housings
19 cables
20 adapters
21 end slightly
22 micro-surgical instruments
23 evaluation units
24 flexible engagement parts
F power
The width of w first otch
D from the center of structure to the distance of end slightly of axle
The d external diameter
The specific embodiment
Describe the present invention with reference to the accompanying drawings.Fig. 1 illustrates the sketch map according to micro-surgical instruments 22 of the present invention; Micro-surgical instruments 22 is connected to evaluation unit 23 by the optical fiber 9 in adapter 20 and the cable 19; Evaluation unit 23 for example is photovoltaic element, and it is made up of the white light interference signal conditioner (WLI signal conditioner) of the gap length that is used for reading Fabry-Perot interference chamber (Fabry-Perot-cavity) and the microprocessor or the computer that are used for the vector of computing power.Micro-surgical instruments 22 can be handed by the surgeon, or is controlled (the automation hand system is located on the housing that comprises optics load-sensing unit 1 18 of micro-surgical instruments) by the automation hand system.Micro-surgical instruments also comprises elongated axle 17, and axle 17 has holds 21 slightly, holds the 21 optics load-sensing units 1 that are attached in the housing 18 slightly.The center of optics load-sensing unit (or claim sensing element) 1 with spools 17 to hold the total distance between 21 slightly be length D.During use, three-dimensional force F
XyzBe applied in and hold 21 places slightly, and be recorded in the optics load-sensing unit 1.Metrical information is passed through the optical fiber 9 in the cable 19, and is sent to evaluation unit 23 via adapter 20.
As shown in Figure 2, optics load-sensing unit 1 also can be described as force sensor element 1 or further abbreviates sensor element 1 as, and force sensor element 1 is positioned in housing 18 after the slender axles 17 that stretch out outside the housing 18.Force sensor element 1 comprises joint 16, and axle 17 is fixedly mounted on the joint 16.The bottom surface 3 of sensor element 1 is fixed firmly to housing 18; Yet the remainder of sensor element 1 and 17 on axle keep free, and hold the size and Orientation of 21 power to be out of shape slightly according to being applied in.Sensor element is used for the three-dimensional contact force F that holds 21 places slightly of measurement axis, and this holds 21 any other shapes that can form straight shape, 45 is hook-shaped or is fit to operation slightly.Sensor element 1 is installed in the housing 18, and therefore at the side force that is for example applied by surgical finger, sensor element is subjected to the good protection opposing, and sensor element is easier and fluid or the isolation of any external fragmentation.
Between housing 18 and the axle 17 flexible engagement part 24 is installed, in order to airtight sensor element 1 and the optical fiber 9 that is fixed on the sensor element.Fastener 24 can be rubber washer (O shape circle) or the corrugated element made by metal or tartan.Flexible engagement part 24 is applied to axle 17 power must be than termination touch F is little slightly.
At the other end relative with fastener 24 of housing, optical fiber 9 leaves housing and enters in the cable 19.
Shown in Fig. 3 and Fig. 4 according to the different views of optics load-sensing unit 1 of the present invention.Force sensor element 1 comprises single-body type cylindrical structural 2; Single-body type cylindrical structural 2 has the bottom surface 3 of extending, z to axis, around the periphery 4 of z axle (being that described z is to axis) and the end face 5 relative with bottom surface 3 in the x-y plane, end face 5 is fit to absorb and also transmits power F to be measured.End face 5 preferably comprises the joint 16 for installation shaft 17.Typically, structure 2 has the external diameter of 0.5mm on the x-y direction of 4mm, and can be machined to and have through hole or do not have through hole.
This structure is characterised in that three punching shape otch 6, all otch be parallel to y to.These otch are separated along the z axle, and form two blade parts 7 just in parallel x-y plane.First blade part 7 is between first otch 6 and second otch 6, and second blade part 7 is between second otch 6 and three cuts 6.All otch 6 are punching shape and parallel, make them look like by extending in a plurality of x-z plane and a plurality of punchings that structure 2 advances form to passing along y.Typically, the z of blade part 7 is 0.02mm to 0.4mm to thickness.
In a preferred embodiment, these otch 6 are with respect to the x-z plane mirror picture symmetry of centre, and these otch have 180 ° of rotation symmetrical relationss according to center y axle.
First otch 6 and three cuts 6 be along x to-x to the long opening parallel to each other that forms; First otch 6 and three cuts preferably along x to-x to having equal lengths, overlapped, and have equal 0.05mm to the z of 0.5mm to width w.Second otch 6 is through holes that are positioned at the center of structure 2.Along x to, second otch preferably extends in the overlapping region of first otch and second otch, and along z to, the second otch almost whole zone between first otch 6 and three cuts 6 extends, and only stays two thin blade parts 7.Preferably, the width of overlapping region and therefore the x of second otch 6 to width be at least structure 2 diameter d 1/3rd.The extension of first otch 6 and three cuts is relatively thin in the remaining structure that x makes progress, and when 21 places of end slightly at axle apply side force, allow along x to y to bending.Two parallel slim vane portions 7 make structure 2 along z to being flexible, and along x to y to being rigidity.Consideration hold slightly 21 places along x to y to directed force F
YxInfluence be exaggerated because of the effect of the lever force of structure, and the influence of power Fz is not exaggerated, all three directions (x to, y to z to) effect that goes up the malformation form is comparable.
This force sensor element 1 is adapted at being used in the micro-surgical instruments 22 ergometry F along the component of three orthogonal direction x, y, z, especially when power is applied to sensing element at a distance.
Preferably, structure 2 is titanium, pottery, polymer, rustless steel or corrosion resistant metal.In addition, the thermal coefficient of expansion of structure 2 (TCE) should be as much as possible close to the TCE of optical fiber 9 and/or fiber segment 11, to reduce the sensitivity to variations in temperature.Because commercial optical fiber is made by the low-down fused silica material of TCE, so in order to reduce temperature control, fiber segment 11 can be made close to the different materials of the TCE of structural material by TCE.If desired, structure 2 can also comprise temperature measuring equipment 14, in order to be the needs monitoring temperature of possible correction.
In order to improve the transmission of light, each optical fiber can scribble semi-reflective coating layer on two surfaces 10,12 at 13 places, Fabry-Perot interference chamber.
The length of interference cavity 13 is along with flexible structure changes because the power at the place of end slightly that is applied to axle produces strain.At neutral position (neutral position), the gap length between the surface that is in optical fiber 9 10 in each Fabry-Perot interference chamber 13 and the surface 12 of fiber segment 11 typically between 0.01mm between the 0.1mm.
The length in chamber uses optical interference measurement to measure, and particularly, uses so-called white light interference (WLI) measurement method (utilizing for example signal conditioner of Canadian FISO company) to measure.At last, based on known calibration procedure computing power, wherein, the size and Orientation that goes out the computing power vector by three length and the calibration matrix of optics cavity.
In order to prevent that optical fiber end 10,12 from destroying because overload causes these two optical fiber end Mechanical Contact, first otch 6 can comprise mechanical stop 15.
Work as axial force F
zWhen being applied to structure 2, two blade part 7 bendings cause the axial translation of being parallel to of structure, make all Fabry-Perot interference chambeies stand identical length and change.On the other hand, as side force F
XyWhen being applied to the end 21 slightly of axle 17, because hold slightly 21 with structure 2 between relative long distance, because rotary inertia or torque are big, so trending towards the height of two deflection divisions producing at the height (level) of two blade parts 7 and by first lateral incision 6 and the 3rd lateral incision 6, total produces lateral thrust.In the case, different changes is stood according to the direction of its position and the side force that applies in 3 chambeies.
Major advantage of the present invention is, make easily according to element 1 of the present invention, element 1 according to the present invention allows undersized length and diameter d, can make being with or without under the condition of through hole according to element 1 of the present invention, element 1 according to the present invention can be installed into away from holding 21 slightly, and because optical fiber 9 and fiber segment 11 all are fixed in the structure 2 along groove and hole (except the flex region with first otch 6), so element 1 according to the present invention demonstrates temperature expansion (temperature dilatation) had only very little influence.The bottom surface 3 of column structure 2 and arbitrary cross section thereof all can rounded, square or any other shapes.
As shown in Figure 5, by dissecing described structure at the center on x-y plane, can in structure 2, see three passages 8 that have optical fiber near second otch, 6 places.Can optimize effective change that single gap length produces because of the power that applies by selecting each passage 8 position in structure 2.
Shown in Fig. 6 a, Fig. 6 b and Fig. 6 c, optical fiber 9 can be fixed in different types of passage 8.In Fig. 6 a, passage seals as the sealing through hole that is parallel to the periphery 4 of structure 2; And in Fig. 6 b and Fig. 6 c, passage 8 opens wide towards periphery 4.Optical fiber can be placed in the sideshake through hole shown in Fig. 6 b, or in the opening lateral groove shown in Fig. 6 c.The advantage of opening lateral groove is at assembly process, be easy to optical fiber is inserted passage 8, and manufacturing process is simple and easy.
Optics load-sensing unit 1 can manufacture little of being enough to be assemblied in the handle of typical micro-surgical instruments 22, typically outside diameter d between 1mm and 4mm, and the contact force F that holds 21 places to apply slightly far away that can accurately measure at slender axles 17.
The length of the typical axle 17 of operating theater instruments 22 is about 40mm, and it is applied to the 21(of end slightly contact force F of spools 17 corresponding to sensing element 1 and holds 21 places slightly) between coverage.
For hand-held apparatus 22, handle is typically long for 10cm arrives 15cm, and diameter d is 5mm.These sizes allow operators cosily hand-held and have a degree of accuracy of instrument, and when in the microstome that is difficult to enter, working with microscope, for example under the situation of operation on the middle ear or retina microsurgery, also have tool spindle and the good visibility of end slightly.
The major advantage of structure 2 of the present invention is that it only carries out machined along a direction, and this makes easy to manufacture and cheap.Do not need tubular structure.Optical fiber not only is fixed on the surface of structure 2 or near the surface of structure 2, and is in the profile of structure 2.
In order to produce optics load-sensing unit 1, make three these optical fiber of optical fiber 9(have into the optical fiber end of riving or polishing 10 at 0 ° of angle) 3 passages 8 that enter the unlimited of structure 2 or seal from the bottom surface, arrive first otch 6; And make three fiber segment 11(fiber segments 11 have into the optical fiber end of riving or polishing 12 at 0 ° of angle) from end face 5 admission passages 8, arrive first otch 6.Six optical fiber/ fiber segment 9,11 is fixed to the both sides of first otch 6 of structure 2, limits to have the optical fiber end 10 that is parallel to each other, the Fabry-Perot interference chamber 13 on 12 surfaces.
In other embodiments, in order to produce optics load-sensing unit 1, the structure 2 that three independent continuous optical fiber 9 is entered from end face 3 have otch 6 open wide or the passage 8 of sealing in, through first otch and arrive end face 5 or near end face 5.These three continuous optical fiber 9 are fixed to the both sides of first otch 6 of structure 2.Subsequently, carry out cut at a regional interior focusing fibre 9 of first otch 6, this zone of first otch 6 limits Fabry-Perot interference chamber 13 and continuous optical fiber 9 is separated into optical fiber 9 and fiber segment 11.
Typically, when for example using white light interferometer by means of the FISO signal conditioner, be the length 13 that reads the Fabry-Perot interference chamber, flexible structure 2 is designed such that the maximum, force F that applies along any direction at end place slightly, and the deflection in chamber 13 is in 1 μ mm to the magnitude of 10 μ m.The power of the maximum that applies depends on the application of the instrument of expectation; The power of the maximum that applies is in the magnitude of 1N in operation on the middle ear palpation program, and is in the magnitude of 0.1N in operation on retina.
Claims (20)
1. the optics load-sensing unit that is used for micro-surgical instruments (22), in order to measure the power F on three orthogonal direction x, y, the z, this optics load-sensing unit comprises single-body type cylindrical structural (1), described single-body type cylindrical structural have the bottom surface (3) of in the x-y plane, extending, z to axis, around periphery (4) from described z to axis and the suitable absorption relative with described bottom surface (3) and transmit the end face (5) of power F to be measured, described structure is characterised in that three punching shape otch (6); All otch all be parallel to y to, separate to axis along described z, and between first otch (6) and second otch (6) and second otch (6) and three cuts (6) between parallel x-y surface in form two blade parts (7) exactly, described structure also comprises three passages (8); Described passage opens wide or sealing and be parallel to described z to axis to described periphery (4), extend to described end face (5) and pass described first otch (6) from described bottom surface (3), walk around two the described otch (6) in addition in the described structure (2) simultaneously, described load-sensing unit also comprises three optical fiber (9); Each described optical fiber is fixed in the passage in described three passages (8); All described optical fiber (9) all enter described structure (2) from described bottom surface (3), pass described first otch and locate or stop near described end face (5) at described end face (5), in described first otch (6), be interrupted simultaneously, set up two surfaces (10,12) of each optical fiber by limiting Fabry-Perot interference chamber (13).
2. element according to claim 1, wherein, described passage (8) all opens wide along its length in described structure (2) to described periphery (4).
3. element according to claim 1 and 2, wherein, described optical fiber (9) by adhesive in described passage (8).
4. according to the described element of one of aforementioned claim, wherein, described structure (2) is titanium, pottery, polymer, rustless steel or corrosion resistant metal.
5. according to the described element of one of aforementioned claim, wherein, described otch (6) is with respect to the x-z plane mirror picture symmetry of centre, and described otch has 180 ° of rotation symmetrical relationss according to center y axle.
6. according to the described element of one of aforementioned claim, wherein, described structure (2) comprises temperature measuring equipment (14).
7. according to the described element of one of aforementioned claim, wherein, at neutral position, the gap that is positioned at each the Fabry-Perot interference chamber (13) between described two surfaces (10,12) of each interrupted optical fiber (9) between 0.01mm between the 0.1mm.
8. according to the described element of one of aforementioned claim, wherein, described first otch (6) have 0.05mm to the z of 0.5mm to width.
9. according to the described element of one of aforementioned claim, wherein, described first otch (6) comprises mechanical stop (15), in order to protect described optical fiber (9) and both ends of fiber segment (11) (10,12).
10. according to the described element of one of aforementioned claim, wherein, described structure (2) has the external diameter of 0.5mm on the x-y direction of 4mm.
11. according to the described element of one of aforementioned claim, wherein, described structure (2) has 0.02mm to the blade part thickness of 0.4mm.
12. according to the described element of one of aforementioned claim, wherein, the surface (10,12) of described optical fiber (9) and/or fiber segment (11) scribbles semi-reflective coating layer.
13. according to the described element of one of aforementioned claim, wherein, the described optical fiber of matched coefficients of thermal expansion (9) of described structure (2) and/or the thermal coefficient of expansion of fiber segment (11).
14. according to the described element of one of aforementioned claim, wherein, the thermal coefficient of expansion of the described structure of matched coefficients of thermal expansion (2) of fiber segment (11).
15. according to the described element of one of aforementioned claim, wherein, described end face (5) comprises the joint (16) for installation shaft (17).
16. according to the described element of one of aforementioned claim, comprise the central through hole along described z to axis.
17. micro-surgical instruments, comprise be installed in the housing (18) according to the described element of one of aforementioned claim (1) and the cable that comprises optical fiber (9) (19) that has adapter (20), wherein, major axis (17) is installed on the described end face (5), and described major axis stretches out outside the described housing (18) and has limited end (21) slightly.
18. make the method according to the described element of one of claim 1 to 16 (1), wherein, three independent continuous optical fiber (9) with the optical fiber end of riving or polishing (10) at 0 ° of angle enter the passage (8) of opening wide of described structure (2) or sealing from described bottom surface (3), arrive described first otch (6); And three fiber segments (11) with the optical fiber end of riving or polishing (12) at 0 ° of angle enter described passage (8) from described end face (5), arrive described first otch (6); And wherein, surface (10,12) by the optical fiber end that is parallel to each other, and by limit described Fabry-Perot interference chamber (13) between described optical fiber end (10,12), described optical fiber (9) and described fiber segment (11) are fixed to the both sides of first otch (6) of described structure (2).
19. make the method according to the described element of one of claim 1 to 16 (1), wherein, three independent continuous optical fiber (9) enter from described bottom surface (3) in the passage (8) that opens wide or seal of the described structure (2) with described otch (6), also arrive described end face or close described end face (5) through described first otch (6); And wherein, three continuous optical fiber (9) at first are fixed to described structure (2) by the both sides at described first otch (6); And wherein, after this also described continuous optical fiber (9) is divided in the zone of optical fiber (9) and fiber segment (11) in the described Fabry-Perot interference of the restriction chamber (13) of described first otch (6), described optical fiber (9) preferably is cut by the laser capture microdissection machined.
20. according to claim 18 or 19 described methods, wherein, all three otch (6) are all by discharge processing, by in the x-z plane with respect to making to the described structure of cutting (2) along y during the translational motion of described structure (2).
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| CH-00164/12 | 2012-02-07 | ||
| CH164122012 | 2012-02-07 |
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| CN103239241A true CN103239241A (en) | 2013-08-14 |
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| CN2012102235676A Pending CN103239241A (en) | 2012-02-07 | 2012-06-29 | Optical force measuring element and microsurgical device |
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| US9597036B2 (en) | 2006-06-09 | 2017-03-21 | St. Jude Medical International Holding S.À R.L. | Triaxial fiber optic force sensing catheter and method of use |
| CN108066010A (en) * | 2016-11-10 | 2018-05-25 | 香港大学深圳研究院 | One kind has flexible and multivariant operating robot |
| CN111839442A (en) * | 2020-06-08 | 2020-10-30 | 北京交通大学 | Fiber grating sensor and flexible ureteroscope |
| CN112432723A (en) * | 2019-08-25 | 2021-03-02 | 天津大学 | Puncture force measuring device and method based on laser speckle interference principle |
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| US20100328675A1 (en) * | 2008-03-19 | 2010-12-30 | Kistler Holding Ag | Optical measuring element having a single-piece structure |
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| CN108066010A (en) * | 2016-11-10 | 2018-05-25 | 香港大学深圳研究院 | One kind has flexible and multivariant operating robot |
| CN112432723A (en) * | 2019-08-25 | 2021-03-02 | 天津大学 | Puncture force measuring device and method based on laser speckle interference principle |
| CN111839442A (en) * | 2020-06-08 | 2020-10-30 | 北京交通大学 | Fiber grating sensor and flexible ureteroscope |
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