CN104783865B - Laparoscopic one kind of three-dimensional force sensing fiber Bragg grating based grasper - Google Patents

Laparoscopic one kind of three-dimensional force sensing fiber Bragg grating based grasper Download PDF

Info

Publication number
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
Authority
CN
China
Prior art keywords
bragg grating
grasper
fiber bragg
force
head
Prior art date
Application number
CN201510166997.2A
Other languages
Chinese (zh)
Other versions
CN104783865A (en
Inventor
张文光
马亚坤
孙晓文
杨鹏
Original Assignee
上海交通大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海交通大学 filed Critical 上海交通大学
Priority to CN201510166997.2A priority Critical patent/CN104783865B/en
Publication of CN104783865A publication Critical patent/CN104783865A/en
Application granted granted Critical
Publication of CN104783865B publication Critical patent/CN104783865B/en

Links

Abstract

本发明涉及一种基于光纤布拉格光栅的腹腔镜三维力传感抓钳。 The present invention relates to a three dimensional force sensing based laparoscopic grasper fiber Bragg grating. 包括抓钳头:用于夹持组织并将夹持力信号转换为光纤布拉格光栅光信号;驱动手柄:用于外界载荷施加,将握持力转换为抓钳所需闭合力;连接套管:用于连接抓钳头与驱动手柄,并将光信号传至信号处理单元。 Grasper head comprising: a clamping force for clamping the tissue and fiber Bragg grating signal is converted into an optical signal; actuating handle: for external load is applied, the holding force is converted to the desired closing force grasper; coupling sleeve: for connecting the drive handle grasper head, and an optical signal to the signal processing unit. 所述的腹腔镜三维力传感抓钳将将器械与组织作用力转换为光信号,通过光纤光栅解调仪采集与设计的计算机算法解耦,恢复外科医生对于器械‑组织作用力的感知。 The laparoscopic grasper three dimensional force sensing device to convert the biasing force of the tissue to an optical signal, an optical fiber grating by computer algorithm decoupling collection and demodulator design, the surgeon to restore the instrument - the perception of organized force. 本发明,具有传感器体积紧凑、具备生物相容性、可消毒性、抗电磁干扰等优点,能在腹腔镜手术中实时提供力觉反馈以协助外科医生实现精准的力控制,提升手术安全性。 The present invention, a sensor having a compact size, biocompatible, can be sterilized advantages, resistance to electromagnetic interference, etc., to provide force sense feedback to help the surgeon to achieve precise force control, in real-time to enhance the safety of the surgery laparoscopic surgery.

Description

一种基于光纤布拉格光栅的腹腔镜三维力传感抓钳 Laparoscopic one kind of three-dimensional force sensing fiber Bragg grating based grasper

技术领域 FIELD

[0001] 本发明涉及一种医疗器械,具体是涉及一种用于腹腔镜手术的三维力传感抓钳。 [0001] The present invention relates to a medical device, particularly relates to a three-dimensional force sensor for a laparoscopic grasper.

背景技术 Background technique

[0002] 目前,外科医生在实施腹腔镜手术时由于不能直接接触病人体内组织,仅可通过视觉信息反馈,即组织的变形,来估算器械施加在组织上的作用力。 [0002] Currently, since the surgeon can not directly contact the patient's body tissue, only by a visual feedback in the practice of laparoscopic surgery, i.e. the deformation of the tissue, the instrument used to estimate a force exerted on the tissue. 由于套管针的摩擦、腹壁的阻力、比例系数的影响以及器械的结构等因素,作用力信息通过器械传至外科医生时已经失真,如此会导致器械产生滑移或夹持力过大。 Since the trocar friction resistance of the abdominal wall, and the proportionality coefficient affect the structural or mechanical factors such as force information is transmitted when the instrument has been distorted by the surgeon, so the device will cause slip or excessive clamping force. 夹持不同类型的组织会导致如损坏组织、形成病理学瘢痕组织、流血、与手术器械粘接以及胃动力缺失等不良手术后果。 Different types of tissue clamped cause damage such as tissue, formation of undesirable pathological consequences of surgery scar tissue, bleeding, adhesion and motility and surgical instruments and other deletions. 因此,在手术中力觉信息的恢复对于避免组织与器械产生滑移以及施加过大的作用力尤为重要。 Therefore, the force sense recovery information to avoid slip organization and instruments in surgery and applying excessive force is particularly important.

[0003] 为了恢复医生对于器械-组织作用力的感知,需要对手术器械集成力传感器。 [0003] In order to restore the doctor to the instrument - the perception of organized force, the force sensors need to integrate the surgical instrument. 然而,腹腔镜手术场合对于传感器本身的要求,除了高灵敏度、高鲁棒性、最小的零点和灵敏度漂移等基本要求外,还有其特殊应用要求,如生物相容性、可消毒性、紧凑尺寸、抗电磁干扰、可一次性使用等。 However, the requirements for laparoscopic surgery where the sensor itself, in addition to high sensitivity, high robustness, sensitivity drift and zero minimum basic requirements, as well as its specific application requirements, such as biocompatibility, sterilizability, compact size, immunity to electromagnetic interference, and the like may be disposable. 传统的力传感器,如电容式、压阻式、压电式、应变片式传感器,难以满足手术场合特殊要求。 Conventional force sensor, capacitive, piezoresistive, piezoelectric, strain gage sensors, where surgery is difficult to meet specific requirements. 因此,为了满足手术场合的使用要求,需寻求新型的传感技术以用于腹腔镜手术的力觉反馈。 Accordingly, in order to meet the requirements of the surgical applications, we need to seek new sensor technology to sense a force feedback for laparoscopic surgery.

[0004] 近年来,基于波长解码的光纤布拉格光栅传感技术由于具有电磁免疫、高灵敏度和高重复性等优点,逐渐出现在生物医学应用中。 [0004] In recent years, based on the decoded wavelength fiber Bragg grating sensing technology because of electromagnetic immunity, high sensitivity and reproducibility, etc., and gradually appears in biomedical applications. 当宽带光在光纤中传播时,满足布拉格条件(即波长为布拉格波长)的光将被反射回来,其余波长的光可继续传输。 When the broadband light propagating in the fiber, satisfy the Bragg condition (i.e., a wavelength of the Bragg wavelength) light will be reflected back, the remaining wavelengths may continue to transmit. 当光纤应变发生变化时,会引起光纤布拉格光栅有效折射率和光栅周期的变化,从而布拉格波长发生改变, 因此可通过检测反射光谱的偏移来检测基体应变的变化。 When the optical fiber strain changes, the effective refractive index change will cause the fiber Bragg grating and the grating period, so that the Bragg wavelength is changed, so the matrix can be detected by the change in strain displacement detected reflectance spectrum.

[0005] 对于光纤布拉格光栅技术,约翰霍普金斯大学已将其用于视网膜手术拉钩获取器械与膜层作用力;都柏林理工大学将该技术用于医用剪刀,获取组织剪切力并对组织断裂韧性进行评估;伯尔尼大学将其用于耳鼻喉手术获取器械卷曲镫骨的作用力。 [0005] For a fiber Bragg grating technology, Johns Hopkins University, had been used for retinal surgery instruments and retractors film acquires force; University of Dublin, the technique to medical scissors, acquisition of tissue shear and tissue fracture toughness assessment; University of Bern, which was used in obtaining ENT surgical instrument stapes curling force. 而国内将其用于微创手术研究的成果目前未见报道。 The results of the domestic research for minimally invasive surgery have not been reported.

[0006] 因此,若能在腹腔镜手术中将该传感技术与结构设计相结合,设计出一种集成三维力感知的腹腔镜抓钳,该传感器体积紧凑,具备生物相容性和可消毒性,抗电磁干扰,精度高,重复性与动态性能好,将其用于术中抓取组织时的实时力觉反馈,则可以协助外科医生实现精准的力控制,提升腹腔镜手术的安全性。 [0006] Thus, if the sensing technology and design combined in laparoscopic surgery, a three-dimensional design of an integrated force sense laparoscopic grasper, a volume sensor which is compact, biocompatible and sterilizable resistance, anti-electromagnetic interference, high accuracy, good repeatability and dynamic performance, which was used intraoperatively in real-time force feedback sensation when grasping the tissue, the surgeon can help achieve precise force control, enhance the security of laparoscopic surgery .

发明内容 SUMMARY

[0007] 本发明针对当前腹腔镜手术中外科医生不能获取器械与组织相互作用力的问题, 提出一种集成光纤布拉格光栅的三维力传感腹腔镜手术抓钳,该抓钳可在术中实时获取力觉反馈信息。 [0007] The problem of the present invention can not be acquired with the tissue interaction devices for laparoscopic surgery, surgeons currently proposed an integrated fiber Bragg grating three dimensional force sensing laparoscopic grasper, the grasper real time during surgery Gets force sense feedback. 所设计腹腔镜抓钳不仅结构紧凑,灵敏度高,解耦性好,而且可用于核磁共振(MRI)手术环境,可使外科医生对组织实施精准的力控制,减少器械对组织的创伤,提升手术安全性。 The laparoscopic grasper only designed compact, high sensitivity, good decoupling, but also for magnetic resonance (MRI) operating environment, allow the surgeon to tissue embodiment precise force control apparatus to reduce trauma to tissue, to enhance the operation safety.

[0008] 为解决上述技术问题,本发明采用如下技术方案: [0008] To solve the above problems, the present invention adopts the following technical solution:

[0009] -种基于光纤布拉格光栅的腹腔镜三维力传感抓钳,其特点在于,包括: [0009] - based on the kind of laparoscopic grasper dimensional force sensor fiber Bragg grating, characterized in that, comprising:

[0010]力传感抓钳头,用于夹持组织并将夹持力信号转换为光纤布拉格光栅光信号; [0011] 驱动手柄,用于外界载荷施加,将握持力转换为力传感抓钳头所需闭合力; [0010] The force-sensing grasper head, the clamping force for clamping the tissue and fiber Bragg grating signal is converted into an optical signal; [0011] actuating handle for the external load is applied to convert the holding force to the force sensing grasper head required closing force;

[0012] 连接套管,用于连接力传感抓钳头与驱动手柄,并将光信号传至信号处理单元; [0012] connection sleeve for connecting the force sensing grasper head and actuating handle, and the optical signal to the signal processing unit;

[0013]信号处理单元,用于将光信号转换为数字信号,并进行显示。 [0013] The signal processing unit for converting optical signals into digital signals, and displayed.

[0014] 进一步,所述的驱动手柄包括旋转手柄、握持手柄以及设置在该握持手柄内的驱动滑块; [0014] Further, the drive includes a rotating handle grip, and the grip handle is provided in the drive slider grip handle;

[0015] 所述的连接套管包括具有两排平行光纤通道的内导管、套设在该内导管外的外套管、固定在该外套管内的上钢丝绳索和下钢丝绳索以及光纤连接器; [0015] The connecting sleeve comprises two parallel rows of inner catheter having a fiber channel, an outer sleeve disposed within the conduit of the outer sleeve, the outer sleeve is fixed in the upper and lower wire rope wire rope and an optical fiber connector;

[0016] 所述的力传感抓钳头包括抓钳头本体和四根光纤布拉格光栅; Sensing the force [0016] grasper head comprises a head body and a grasper four optical fiber Bragg grating;

[0017] 所述信号处理单元包括光纤光栅解调仪和计算机; The [0017] signal processing means comprises a fiber grating demodulation and computer;

[0018] 所述的抓钳头本体由上抓钳头和下抓钳头组成,所述的上抓钳头和下抓钳头通过销钉铰接,且分别通过所述的上钢丝绳索和下钢丝绳索与所述的外套管的一端相连,该外套管的另一端与所述的旋转手柄相连,所述的内导管从外套管中延伸与所述的驱动滑块连接; [0018] The grasper head body by an upper and a lower grasper head grasper head composed of the upper and the lower grasper head grasper head hinged by a pin, and respectively said upper and lower wire rope rope One end of the cable is connected to the outer sleeve, connected to the other end of the outer sleeve and said rotary handle, said inner catheter is connected to the driving slide extending from said outer tube;

[0019] 第一根光纤布拉格光栅和第二根光纤布拉格光栅的一端嵌入在上抓钳头内,第三根光纤布拉格光栅和第四根光纤布拉格光栅的一端嵌入在下抓钳头内,第一根光纤布拉格光栅和第二根光纤布拉格光栅的另一端与第三根光纤布拉格光栅和第四根光纤布拉格光栅的另一端分别通过两排平行光纤通道与光纤连接器的一端相连,该光纤连接器的另一端外接光纤光栅解调仪的输入端,该光纤光栅解调仪的输出端与计算机相连。 [0019] One end of a first fiber Bragg grating and the second optical fiber Bragg grating embedded in grasping the clamp, one end of the third fiber Bragg grating and a fourth Bragg grating optical fibers embedded within the lower grasping clamp, a first the other end of the optical fiber and the second fiber Bragg grating of Bragg grating optical fibers and the other end of the third and the fourth Bragg grating fiber Bragg grating at one end respectively two parallel rows of fiber channel optical connector is connected to the optical fiber connector the other end of the external input terminal of the optical fiber grating demodulator, coupled to the optical fiber grating demodulator output terminal of the computer.

[0020] 进一步,所述抓钳本体的材料为低弹性模量生物聚合物材料。 [0020] Further, the bulk material is a grasper low elastic modulus biopolymer material.

[0021] 进一步,所述的第一根光纤布拉格光栅、第二根光纤布拉格光栅和第三根光纤布拉格光栅用于应变传感,所述的第四根光纤布拉格光栅用于温度补偿。 [0021] Further, the first fiber Bragg grating, a second and a third fiber Bragg grating for Bragg grating strain sensing optical fibers, the optical fibers of the fourth Bragg grating for temperature compensation.

[0022] 进一步,所述内导管设有两排通孔,一端与抓钳头本体铰接,另一端与驱动手柄通过螺纹连接;所述两排通孔将四根光纤引导至光纤连接器,所述光纤连接器置于旋转手柄中;所述旋转手柄采用对称剖分结构,中心和上部设有通孔,将光纤引至光纤光栅解调仪; 所述光纤光栅解调仪将所采集光信号转换为力信号,通过设计的算法实现三维力解耦。 [0022] Further, the inner catheter is provided with two rows of through holes, one end of the grasper head body is hinged, the other end of the actuating handle by a threaded connection; the two rows of four fibers are guided through holes to the optical fiber connector, the said optical fiber connector is placed in the rotary handle; the handle rotational symmetrical split structure, and an upper center of a through hole, the optical fiber lead to the optical fiber grating demodulator; the optical fiber grating demodulator acquisition signal converted into a force signal, force is decoupled by the three-dimensional algorithm design.

[0023] 与现有技术相比,本发明的有益效果是: [0023] Compared with the prior art, the beneficial effects of the present invention are:

[0024] 1)采用腹腔镜抓钳实施手术时能够获取器械与组织作用力信息,在术中对手柄施加载荷实施控制,避免现有手术中夹持力过小产生滑移以及夹持力过大而损坏组织,提升腹腔镜手术安全性; [0024] 1) can be obtained using the laparoscopic instruments and tissue graspers force information surgery, a load is applied to the control handle embodiment surgery, conventional surgery to avoid retention force is too small to slip over the clamping force and that can be damaged tissue, to enhance the safety of laparoscopic surgery;

[0025] 2)采用光信号传输,灵敏度高,抗电磁干扰,可在传统电信号传感器不能应用的MRI手术场合中使用。 [0025] 2) The optical signal transmission, high sensitivity, anti-electromagnetic interference, can be used in conventional MRI procedures where electrical signals of the sensor can not be applied.

附图说明 BRIEF DESCRIPTION

[0026] 图1是本发明基于光纤布拉格光栅的腹腔镜三维力传感抓钳测量系统示意图。 [0026] FIG. 1 is a schematic view of the invention caliper measurement system based on a three-dimensional force sensing laparoscopic grasping fiber Bragg grating. [0027]图2是本发明基于光纤布拉格光栅的腹腔镜三维力传感抓钳本体结构示意图。 [0027] FIG. 2 is a schematic diagram of the body structure of the present invention is based on laparoscopic forceps three dimensional force sensing fiber Bragg grating grip. [0028]图3是本发明力传感抓钳头结构示意图。 [0028] FIG. 3 is a schematic view of a force sensor according to the present invention is the grasper head structure.

[0029] 图4是本发明光纤布拉格光栅布置方案示意图。 [0029] FIG. 4 is a schematic view of an optical fiber Bragg grating arrangement of the present invention.

[0030] 图5是三维力传感抓钳尾部结构放大图。 [0030] FIG. 5 is a three dimensional force sensing grasper enlarged tail structure in FIG.

[0031] 图6是三维力传感抓钳动力驱动结构放大图。 [0031] FIG 6 is a three dimensional force sensing grasper power drive structure enlarged in FIG.

[0032] 1 -三维力传感抓钳本体;2-光纤光栅解调仪;3-计算机;4-抓钳头本体;4a_上抓钳头;4b-下抓钳头;5-内导管;6-外套管;7-旋转手柄;8-光纤连接器;9-握持手柄;10-销钉联接;11-钢丝绳索;Ila-上钢丝绳索;Ilb-下钢丝绳索;12a-第一根光纤布拉格光栅;12b-第二根光纤布拉格光栅;13a-第三根光纤布拉格光栅;13b-第四根光纤布拉格光栅;14-握持手柄中的驱动滑块;15 -内导管中的光纤通道。 [0032] 1 - dimensional force sensing grasper body; 2- FBG demodulator; 3- computer; 4- grasper head body; grasper head 4a_; 4b- the grasper head; 5- inner conduit ; 6- overtube; 7- rotation handle; 8- fiber optic connector; 9- holding the handle; 10- bayonet coupling; 11- wire rope; Ila- the wire rope; Ilb- the wire rope; 12A-first root fiber Bragg grating; 12b-second fiber Bragg grating; 13A-third fiber Bragg grating; 13b-fourth Bragg grating optical fibers; 14- driver holding the handle of the slider; 15-- fiber channel inner conduit .

具体实施方式 Detailed ways

[0033]下面结合附图和实施例对本发明作进一步说明。 Drawings and embodiments of the present invention will be further described [0033] below in conjunction.

[0034] 参照附图1,为腹腔镜三维力传感抓钳测量系统示意图,其中包括:三维力传感抓钳本体1,其和人体组织相互作用,将力信号转换为光信号输出;光纤光栅解调仪2,将上述光信号转换为数字信号;计算机3,运用预先编写的程序,将数字信号转换为器械和组织相互作用的三维力,并在显示器上输出。 [0034] Referring to Figure 1, a schematic view of the laparoscopic grasper measuring three-dimensional force sensing system, including: a three-dimensional force sensing grasper body 1, and its human tissue interaction, the force signal into an optical output signal; Fiber grating demodulator 2, the optical signal is converted into a digital signal; computer 3, using pre-written program, converts the digital signal into three-dimensional tissue interaction and the force instrument, and output on the display.

[0035]图2是本发明中三维力传感抓钳本体结构示意图,包括抓钳头本体4a和4b、内导管5、外套管6、旋转手柄7、光纤连接器8、握持手柄9。 [0035] FIG. 2 is a three-dimensional force sensor of the present invention, a schematic view of the body structure grasping forceps, grasper head comprises a body 4a and 4b, the conduit 5, the outer sleeve 6, rotation of the handle 7, the optical fiber connector 8, 9 grip the handle. 抓钳头本体4通过铰接与内导管5相连,可作闭合运动夹持组织,抓钳头本体4采用的材料为低弹性模量生物聚合物材料。 Grasper head body 4 is connected via a hinge to the inner duct 5, can be used for the closing movement of clamp tissue, grasping clamp material 4 employed is a low elastic modulus body biopolymer material. 图3和图4是光纤光栅嵌入抓钳头本体4不意图,嵌入光纤光栅12a,12b,13a和13b。 FIGS. 3 and 4 are embedded in a fiber grating grasper head main body 4 are not intended to, embedded fiber gratings 12a, 12b, 13a and 13b. 其中12a,12b,13a用于应变传感,13b用于温度补偿。 Wherein 12a, 12b, 13a for strain sensing, 13b for temperature compensation.

[0036] 参照图3和4,为本发明光纤布拉格光栅布置方案示意图。 [0036] Referring to FIGS. 3 and 4, a schematic arrangement of the present fiber Bragg grating invention. 图4左右分别为两个抓钳头本体4的XY截面图(图3矩形虚线),抓钳头本体长度方向为Z轴。 FIG 4 are about two grasper XY sectional view of the head body (FIG. 3 dashed rectangle) 4, grasper head body longitudinal direction is the Z axis. 光纤布拉格光栅12a位于器械XZ与YZ截面中性层,光纤布拉格光栅12b位于器械XZ截面中性层内,与光纤布拉格光栅12a相距1.5mm。 Fiber Bragg grating devices 12a located XZ cross-section and YZ neutral layer, a fiber Bragg grating 12b is located within the instrument XZ section neutral layer, and the fiber Bragg grating 12a spaced 1.5mm. 光纤布拉格光栅13a位于器械YZ截面中性层内,光纤布拉格光栅13b为增设的温度补偿传感器,与光纤布拉格光栅13b垂直相距1.5_。 Fiber Bragg grating 13a is located within the instrument YZ cross section neutral layer, a fiber Bragg grating 13b to the additional temperature compensation sensor, and fiber Bragg grating 13b vertically spaced 1.5_.

[0037] 参照图4,根据本发明中光纤光栅的布置方案,可推导出组织施加于抓钳的作用力与抓钳输出的光信号之间的关系,算法表达式具体推导过程如下: [0037] Referring to Figure 4, the arrangement according to the present invention an optical fiber grating can be deduced and the relationship between the force applied to the optical signal grasping forceps tissue grasper output, the specific expression of the algorithm is derived as follows:

[0038]当抓钳头部本体受三维力载荷Fx,Fy,Fz作用时,将会发生变形,导致FBG传感器处产生应变。 [0038] When, Fy, Fz when action will occur grasper head body by the three-dimensional deformation force load Fx resulting strain produced at the FBG sensor. 设Klj为各光纤载荷波长系数,Kn为各光纤温度波长系数,由传感器的布置方案, 各个FBG反射波长变化量与外载荷关系为: Each optical fiber is disposed Klj wavelengths load factor, Kn is the wavelength of each optical fiber temperature coefficient, the sensor arrangement, the respective FBG reflected wavelength change amount of the external load relationship:

Figure CN104783865BD00051

[0039] [0039]

[0040] [0040]

[0041] [0041]

[0042] [0042]

[0043] [0043]

[0044] [0044]

[0045] [0045]

[0046] [0046]

[0047] [0047]

[0048]其中: [0048] wherein:

Figure CN104783865BD00061

[0052] 通过解调仪测量传感器反射波长偏移量,计算机通过如下解耦算法,得三维力大小: [0052] The sensor measured by demodulating the reflected wavelength shift amount, decoupled by a computer algorithm to yield the three-dimensional force magnitude:

[0053] F=IT1AA [0053] F = IT1AA

[0054] 图5是三维力传感抓钳尾部结构放大图,外套管6通过螺纹与旋转手柄7连接,内导管5从外套管6通孔中延伸,与握持手柄中9中的驱动滑块14固连。 [0054] FIG. 5 is a three dimensional force sensing tail structure grasper enlarged view of the outer sleeve 6 by a threaded connection with the rotation of the handle 7, the inner conduit 5 extending from the outer sleeve 6 through Kong Zhongyan, holding the handle with the driving slide 9 block 14 is fixedly connected. 光纤从抓钳头本体4引出, 经内导管5中的光纤通道15a,15b延伸,通过固定在旋转手柄7上的光纤连接器8与光纤光栅解调仪2相连,实现光信号的采集。 From the optical fiber 4 drawn grasper head body, the inner conduit 5 via the fiber channel 15a, 15b extending through the fixed optical fiber is connected to a connector on rotation of the handle 7 and 8 of the fiber grating demodulator 2, an optical signal to achieve collection.

[0055] 参照附图6,是本发明三维力传感抓钳动力驱动结构放大图,抓钳头本体4的尾部通过钢丝绳索lla,llb与外套管固连,两绳索呈交叉X型。 [0055] Referring to Figure 6, the present invention is a three-dimensional force sensing power drive structure grasper enlarged view grasper head body 4 by the wire rope tail lla, llb and is fixedly connected to the outer sleeve, two X-shaped in a cross-rope. 当握持手柄9闭合,内导管5由握持手柄中的驱动滑块14向前驱动,产生微小位移,此时抓钳头本体4a,4b受钢丝绳索11拖拽而闭合;当松开握持手柄9,内导管5由驱动滑块14向后驱动,此时抓钳头本体4a,4b受钢丝绳索11抵触而张开。 When holding the handle 9 is closed, the inner catheter 514 is driven by the driver holding the handle slider forwardly, generating small displacements, grasper head body case 4a, 4b by dragging the wire rope 11 is closed; when loosening the grip holding the handle 9, the inner catheter 5 driven by a driving slide 14 rearwardly, grasper head body case 4a, 4b by the wire ropes 11 and open conflict.

[0056] 本发明通过上述实施方式,具有以下有益效果:本发明提供的基于光纤布拉格光栅的腹腔镜三维力传感抓钳将器械与组织作用力转换为光信号,通过光纤光栅解调仪采集与设计的计算机算法解耦,获得器械作用于组织的三维力,有效降低了传统腹腔镜手术中抓取组织时容易导致夹持力过小滑移以及夹持力过大而损坏组织的风险。 [0056] By the above-described embodiments of the present invention, has the following advantages: the present invention provides a laparoscopic grasper converted based on the three-dimensional force sensor fiber Bragg grating devices force the tissue to optical signals collected by the optical fiber grating demodulator and computer algorithm decoupling design, three dimensional forces acting on the instrument to obtain tissue, effectively reducing the lead holding force is easy to slip and the clamping force is too small and too large risk of tissue damage during surgery, conventional laparoscopic grasping the tissue. 所设计的三维力传感抓钳由于采用光信号传输,还能够在传统传感器不能工作的核磁共振手术场合中使用。 The three-dimensional design of the force sensing grasper result of optical signal transmission, can also be used in the case of a conventional nuclear magnetic resonance operation in the sensor is not operating.

[0057]上文所列出的详细说明仅是针对本发明可行性实施方式的具体说明。 [0057] The detailed description is merely listed above for the feasibility of specifically described embodiments of the present invention. 所以,如果本领域的技术人员受其启示,在不偏离本发明的精神和范围的情况下,采用光纤布拉格光栅嵌入的方式实现三维力传感并解耦的腹腔镜抓钳,均应属于本发明的保护范围。 So, if those skilled in the art by its inspiration, without departing from the spirit and scope of the present invention using fiber Bragg grating embedded in a three-dimensional manner and decoupled from the force sensing laparoscopic grasper, shall belong to the present the scope of the invention.

Claims (3)

1. 一种基于光纤布拉格光栅的腹腔镜三维力传感抓钳,包括: 力传感抓钳头,用于夹持组织并将夹持力信号转换为光纤布拉格光栅光信号; 驱动手柄,用于外界载荷施加,将握持力转换为力传感抓钳头所需闭合力; 连接套管,用于连接力传感抓钳头与驱动手柄,并将光信号传至信号处理单元; 信号处理单元,用于将光信号转换为数字信号,并进行显示;其特征在于: 所述的驱动手柄包括旋转手柄(7)、握持手柄(9)以及设置在该握持手柄(9)内的驱动滑块(14); 所述的连接套管包括具有两排平行光纤通道的内导管(5)、套设在该内导管(5)外的外套管(6)、固定在该外套管(6)内的上钢丝绳索(11a)和下钢丝绳索(11b)以及光纤连接器(8); 所述的力传感抓钳头包括抓钳头本体⑷和四根光纤布拉格光栅; 所述信号处理单元包括光纤光栅解调仪⑵和计算机(3); 所述的 1. Based on the three-dimensional force sensing laparoscopic grasper fiber Bragg grating, comprising: a force sensing grasper head, the clamping force for clamping the tissue and fiber Bragg grating signal is converted into an optical signal; a driving handle, with load is applied to the outside, converts the gripping force of the force sensing grasper head required closing force; connecting sleeve for connecting force sensing grasper head and actuating handle, and the optical signal to the signal processing unit; signal processing unit for converting optical signals into digital signals, and a display; characterized in that: said drive includes a rotating handle grip (7), grasping the handle (9) and provided (9) of the gripping handle drive slide (14); said coupling sleeve comprising a conduit having two parallel rows of inner fiber channel (5), the sleeve disposed within the conduit (5) outside the outer sleeve (6) fixed to the outer sleeve the wire rope (11a) in (6) and a lower wire rope (11b) and an optical fiber connector (8); said force sensing grasper grasper head comprising a head body and four optical fiber Bragg grating ⑷; the the signal processing unit comprises a fiber grating demodulator ⑵ and the computer (3); the 抓钳头本体(4)由上抓钳头(4a)和下抓钳头(4b)组成,所述的上抓钳头(4a)和下抓钳头(4b)通过销钉(10)铰接,且分别通过所述的上钢丝绳索(11a)和下钢丝绳索(11a) 与所述的外套管(6)的一端相连,该外套管(6)的另一端与所述的旋转手柄⑵相连,所述的内导管⑶从外套管(6)中延伸与所述的驱动滑块(14)连接; 第一根光纤布拉格光栅(12a)和第二根光纤布拉格光栅(12b)的一端嵌入在上抓钳头(4a)内,第三根光纤布拉格光栅(13a)和第四根光纤布拉格光栅(13b)的一端嵌入在下抓钳头(4b)内,第一根光纤布拉格光栅(12a)和第二根光纤布拉格光栅(12b)的另一端与第三根光纤布拉格光栅(13a)和第四根光纤布拉格光栅(13b)的另一端分别通过两排平行光纤通道与光纤连接器(8)的一端相连,该光纤连接器(8)的另一端外接光纤光栅解调仪(2)的输入端,该光纤光栅解调仪⑵的输出端与 Grasper head body (4) by the upper grasper head (4a) and a lower grasper head (4b) composed of the upper grasper head (4a) and a lower grasper head (4b) (10) is hinged by a pin, and respectively connected to one end of the outer sleeve (6) through the upper wire rope (11a) and a lower wire rope (11a), connected to the other end of the outer sleeve (6) with said rotating handle ⑵, ⑶ said inner conduit extending from the outer sleeve (6) driving said slider (14); an end of a first fiber Bragg grating (12a) and a second fiber Bragg grating (12b) embedded in the grasper head (4a) inner end of the third fiber Bragg grating (13a) and a fourth optical fiber Bragg grating (13b) embedded in the lower grasper head (4b) within the first fiber Bragg grating (12a) and another end of the other end of the two optical fiber Bragg grating (12b) of the third fiber Bragg grating (13a) and a fourth optical fiber Bragg grating (13b) respectively by two parallel rows of fiber channel optical connector (8) connected to the other end of the optical fiber connector (8) of the external fiber grating demodulator (2) input terminal, an output terminal of the optical fiber with the grating demodulator ⑵ 算机⑶相连。 ⑶ connected computer.
2. 根据权利要求1所述的基于光纤布拉格光栅的腹腔镜三维力传感抓钳,其特征在于: 所述抓钳头本体的材料为低弹性模量生物聚合物材料。 The laparoscope based three dimensional force sensing fiber Bragg grating according to claim 1 grasper, wherein: said head body grasper low elastic modulus material is a biopolymer material.
3. 根据权利要求1所述的基于光纤布拉格光栅的腹腔镜三维力传感抓钳,其特征在于: 所述的第一根光纤布拉格光栅(12a)、第二根光纤布拉格光栅(12b)和第三根光纤布拉格光栅(13a)用于应变传感,所述的第四根光纤布拉格光栅(13b)用于温度补偿。 The three dimensional force sensing based laparoscopic grasper fiber Bragg grating according to claim 1, wherein: said first fiber Bragg grating (12a), a second fiber Bragg grating (12b) and the third fiber Bragg grating (13a) for sensing strain, said fourth optical fiber Bragg grating (13b) for temperature compensation.
CN201510166997.2A 2015-04-09 2015-04-09 Laparoscopic one kind of three-dimensional force sensing fiber Bragg grating based grasper CN104783865B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510166997.2A CN104783865B (en) 2015-04-09 2015-04-09 Laparoscopic one kind of three-dimensional force sensing fiber Bragg grating based grasper

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510166997.2A CN104783865B (en) 2015-04-09 2015-04-09 Laparoscopic one kind of three-dimensional force sensing fiber Bragg grating based grasper

Publications (2)

Publication Number Publication Date
CN104783865A CN104783865A (en) 2015-07-22
CN104783865B true CN104783865B (en) 2017-03-08

Family

ID=53549384

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510166997.2A CN104783865B (en) 2015-04-09 2015-04-09 Laparoscopic one kind of three-dimensional force sensing fiber Bragg grating based grasper

Country Status (1)

Country Link
CN (1) CN104783865B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109115380A (en) * 2017-06-23 2019-01-01 中国科学院沈阳自动化研究所 Three-dimensional force sensor for minimally invasive medical instrument
CN108542469A (en) * 2018-02-14 2018-09-18 天津大学 Six-dimensional force sensor based on image feedback, six-dimensional force sensing clamping probe based on image feedback and six-dimensional force sensing clamping apparatus based on image feedback

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Also Published As

Publication number Publication date
CN104783865A (en) 2015-07-22

Similar Documents

Publication Publication Date Title
Gibson et al. Directional variation in extensibility of human skin in vivo
US8834465B2 (en) Modular tool with signal feedback
US8567265B2 (en) Triaxial fiber optic force sensing catheter
US20100121138A1 (en) Apparatus and method for sensing force
CN101296649B (en) System and method for controlling force applied to and manipulation of medical instruments
EP2291124B1 (en) An instrument for minimally invasive surgery
US20030120306A1 (en) Method and apparatus for the detection and occlusion of blood vessels
JP5475468B2 (en) Device for measuring physiological state of the body
JP6290099B2 (en) Steerable flexible needle having an embedded shape sensing function
JP5270174B2 (en) Medical device system comprising an optical fiber load sensing capability
Dziuda et al. Monitoring respiration and cardiac activity using fiber Bragg grating-based sensor
EP2231050B1 (en) Ribbed force sensor
KR101806385B1 (en) Drive force control in medical instrument providing position measurements
CA2721075C (en) Methods and devices to decrease tissue trauma during surgery
Iordachita et al. A sub-millimetric, 0.25 mN resolution fully integrated fiber-optic force-sensing tool for retinal microsurgery
JP2678272B2 (en) Embolic shear measurement gauge and embolectomy device
US5792076A (en) Fracture consolidation measuring apparatus
KR101615539B1 (en) Force and torque sensing in a surgical robot setup arm
JP3406560B2 (en) Fetal pulse oximetry apparatus
EP3222213A1 (en) Optic-based contact sensing assembly and system
US20030176770A1 (en) System and method for controlling force applied to and manipulation of medical instruments
CN101730506B (en) Minimally invasive surgical tools with haptic feedback
US8613230B2 (en) Force sensing for surgical instruments
EP2338430B1 (en) Catheter with strain gauge sensor
Drzewiecki et al. Arterial tonometry: review and analysis

Legal Events

Date Code Title Description
C06 Publication
EXSB Decision made by sipo to initiate substantive examination
C14 Grant of patent or utility model