CN104932382A - Three-dimensional miniature force sensor used for touch diagnosis in minimally invasive environment - Google Patents
Three-dimensional miniature force sensor used for touch diagnosis in minimally invasive environment Download PDFInfo
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- CN104932382A CN104932382A CN201510354485.9A CN201510354485A CN104932382A CN 104932382 A CN104932382 A CN 104932382A CN 201510354485 A CN201510354485 A CN 201510354485A CN 104932382 A CN104932382 A CN 104932382A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2617—Eye, ophthalmic, surgery system
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Abstract
The invention provides a three-dimensional miniature force sensor used for touch diagnosis in minimally invasive environments, which belongs to the technical field of miniature force sensors. The three-dimensional miniature force sensor is provided for solving the problems that tissue properties of a surgical site cannot be identified accurately and the executive ability of surgery is affected in traditional minimally invasive surgery. The three-dimensional miniature force sensor comprises an instrument shaft, a miniature sensor, a tail end rolling device and a detection circuit, wherein the miniature sensor is composed of a tripod elastic body, three pairs of strain gauges and a sleeve shell, the tail end rolling device is composed of a sleeve and a spherical roller, three groups of orthogonal beams are designed on the tripod elastic body, each group of orthogonal beams is composed of one cross beam and two vertical beams, the three groups of orthogonal beams are spaced at 120-degree intervals, and one pair of the stain gauges are arranged on two side surfaces of each upper vertical rod along the circumferential surface; an elastic body upper connecting section is fixed to the instrument shaft in an interference sleeving manner, an elastic body lower connecting section is fixed to the sleeve in an interference sleeving manner, and the spherical roller is connected on the inner side wall at the lower end of the sleeve through a pin shaft; and the detection circuit is connected with the strain gauges through twisted pairs. The three-dimensional miniature force sensor is used for three-dimensional miniature force detection.
Description
Technical field
The present invention relates under Wicresoft's environment for touching the three-dimensional micro force snesor of diagnosis, belonging to micro-force sensor technical field.
Background technology
Wicresoft is a kind of important operation method in operation.Minimally Invasive Surgery obtains revolutionary success because its wound is little, alleviate corrective surgery pain, shorten the advantages such as length of patient stay in increasing traditional operation, comprises cholecystectomy, prostatectomy, appendectomy, uterectomy, nephrectomy, coronary artery bypass graft surgery etc.
But, Minimally Invasive Surgery is due to can not direct Proximity operation region, make to there is intrinsic defect in perception and motion: (1) is observed: the vibration that assistant's hand shaking produces can cause laparoscopically instability, easily cause visual discontinuities or motion sickness to doctor, the hand eye coordination of doctor is made to become very clumsy, also can disorientation; (2) operate: because operating theater instruments is around the pivot of insertion point, thus limit the degree of freedom of apparatus, hamper the dirigibility of doctor's wrist rotation and motion; (3) contact: the not direct Proximity operation region of doctor, lose the tactilely-perceptible directly contacting and bring, same, the power visual information between operating theater instruments and patient tissue also can be restricted or produce distortion.These are all differentiated organizational attribution to doctor by the mode of carrying out tissue touch operation and are organized mutation to bring difficulty, and organizational attribution comprises the rigidity and elastic modulus such as organized.
In recent years, the research of micro sensing technology and micro-wound operation robot is felt and tactile feedback and better dirigibility for doctor provides power, and enhances the ability that doctor performs operation.In order to more effectively perform operation, doctor need differentiate tissue attribute and the change of perceptual organization.When carrying out operation, be embedded in the hard structures such as the tumour under tissue surface, nerve, blood vessel and organ and not easily found by endoscope or miscellaneous equipment, only have by contact just passable.Magnetic resonance image (MRI) and ultrasonography can not find that the fritter tumour that diameter is less than 1cm accurately can not be located it because these two technology are all process image in real time, contrast and resolution very poor, to position more difficult to tumour.Because vision means not easily complete this operation, and Minimally Invasive Surgery apparatus does not have power measuring ability, causes Minimally Invasive Surgery not have reliable basis when differentiating organizational attribution.
Summary of the invention
The present invention seeks to, in order to solve in traditional Minimally Invasive Surgery, cannot accurately differentiate operative site tissues attribute, the problem of implementation capacity of impact operation, provide under a kind of Wicresoft environment for touching the three-dimensional micro force snesor of diagnosis.
For touching the three-dimensional micro force snesor of diagnosis under Wicresoft of the present invention environment, it comprises apparatus axis, microsensor, end tourelle and testing circuit,
Microsensor is made up of tripod elastic body, three pairs of strainometers and sheath body, and end tourelle is made up of sleeve and spherical roller,
Tripod elastic body is made up of linkage section under linkage section, upper support ring, three upper vertical beams, three crossbeams, three lower vertical beams, lower support ring and elastic bodys on elastic body,
Upper support ring is coaxially fixed on the bottom of linkage section outer toroid on elastic body, lower support ring is coaxially fixed on the top of linkage section outer toroid under elastic body, three upper vertical beams are along the circumferential direction evenly arranged on support ring lower surface, three lower vertical beams are along the circumferential direction evenly arranged on lower support ring upper surface, and vertical beam is positioned in the middle of adjacent two lower vertical beams on every root, on each root, the free end of vertical beam is connected by a crossbeam with the free end of adjacent lower vertical beam in the counterclockwise direction, the orientation of crossbeam is level, and crossbeam is the arc-shaped of 60 degree; Sheath body is cylindrical, snaps onto between support ring and lower support ring, and the tripod that three upper vertical beams, three crossbeams and three lower vertical beams are formed is in its cavity;
Vertical beam two sides along the circumferential direction arrange a pair strainometer to every root;
On elastic body, linkage section and apparatus axis interference are fixed by socket, and under elastic body, linkage section and sleeve interference are fixed by socket, spherical roller by pinned connection on the madial wall of sleeve lower end;
Testing circuit passes through twisted pair line connection strainometer, the voltage signal inputs of the voltage signal output end connection detection circuit of strainometer.
Described testing circuit comprises Wheatstone bridge, conditioning amplifying circuit, three road simulation multiplexers, voltage follower, modulus conversion chip and single-chip microcomputer,
The voltage signal output end of strainometer connects the signal input part of Wheatstone bridge, the signal output part of Wheatstone bridge connects the signal input part of conditioning amplifying circuit, the signal output part of conditioning amplifying circuit connects the signal input part of three road simulation multiplexers, the signal output part of three road simulation multiplexers connects the signal input part of voltage follower, and the signal output part of voltage follower connects the signal input part of modulus conversion chip;
The gating signal output terminal of single-chip microcomputer connects the gating signal input end of three road simulation multiplexers, the reading convert data signal output terminal of single-chip microcomputer connects the convert data signal input end of modulus conversion chip, and the data signal output of modulus conversion chip connects the data signal input of single-chip microcomputer; Single-chip microcomputer carries out data transmission by RS232 and host computer.
Sheath body is formed by two panels semicircular cylinder snapping, has gap between sheath body and lower support ring.
Advantage of the present invention: power is felt can easily obtain the necessary information such as position, size as a kind of perception means.The present invention, as a kind of power perception operating theater instruments, directly can measure the mechanical attributes of illing tissue in patient body, detects bring conveniently for doctor carries out operation and pathology.From the mission requirements touching diagnosis, the present invention has three-dimensional force measuring ability, sensing range can reach axial 3.0N and radial 1.5N, precision axis is to 0.15N and radial 0.015N, making outside dimension of the present invention is not more than 10mm, and compact dimensions, protective are good, and bio-compatibility is strong, be easy to and operating theater instruments dismounting, be applicable to the touch diagnosis under Wicresoft's environment.
Detection mode of the present invention is resistance detection, strain when reflecting that elastic body is stressed by the resistance variations of strainometer.Microsensor can detect three-dimensional force, tripod elastic body devises 3 groups of orthogonal beams members, often organizes orthogonal beams members and is made up of 1 crossbeam and 2 vertical beams, often organizes to be spaced apart 120 degree between beam.Vertical beam bending stiffness is less, and crossbeam bend rigidity is larger.When microsensor end obtains the radial force that rounded rollers transmits, it is bending that three groups of vertical beams produce in various degree; When end has a responsive to axial force, three crossbeams force the bending of vertical beam generation same degree.The strain of bending generation can be converted to the change of self-resistance by the strainometer be pasted onto on vertical beam.After strainometer access Wheatstone bridge, after the amplification of testing circuit, filtering, sampling, the change of resistance will be converted to the change of output voltage.After microsensor is demarcated by loading, outer acting force successfully can be detected, precision is high, and bio-compatibility is strong, has good clinical landscapes.
The present invention can be reliably integrated with single-degree-of-freedom operating theater instruments, and measurement range is large.
Accompanying drawing explanation
Fig. 1 is for touching the one-piece construction schematic diagram of the three-dimensional micro force snesor of diagnosis under Wicresoft of the present invention environment;
Fig. 2 is the structural representation of microsensor;
Fig. 3 is the elastomeric structural representation of tripod;
Fig. 4 is the structural representation of end tourelle;
Fig. 5 is the theory diagram of testing circuit;
Fig. 6 is the circuit diagram of conditioning amplifying circuit.
Embodiment
Embodiment one: present embodiment is described below in conjunction with Fig. 1 to Fig. 4, for touching the three-dimensional micro force snesor of diagnosis under Wicresoft's environment described in present embodiment, it comprises apparatus axis 1, microsensor 2, end tourelle 3 and testing circuit 4,
Microsensor 2 is made up of tripod elastic body 2-1, three couples of strainometer 2-2 and sheath body 2-3, and end tourelle 3 is made up of sleeve 3-1 and spherical roller 3-2,
Tripod elastic body 2-1 is made up of linkage section 2-17 under linkage section 2-11, upper support ring 2-12, three upper vertical beam 2-13, three crossbeam 2-14, three lower vertical beam 2-15, lower support ring 2-16 and elastic bodys on elastic body,
Upper support ring 2-12 is coaxially fixed on the bottom of linkage section 2-11 outer toroid on elastic body, lower support ring 2-16 is coaxially fixed on the top of linkage section 2-17 outer toroid under elastic body, three upper vertical beam 2-13 are along the circumferential direction evenly arranged on support ring 2-12 lower surface, three lower vertical beam 2-15 are along the circumferential direction evenly arranged on lower support ring 2-16 upper surface, and vertical beam 2-13 is positioned in the middle of adjacent two lower vertical beam 2-15 on every root, on each root, the free end of vertical beam 2-13 is connected by a crossbeam 2-14 with the free end of adjacent lower vertical beam 2-15 in the counterclockwise direction, the orientation of crossbeam 2-14 is level, crossbeam 2-14 is the arc-shaped of 60 degree, sheath body 2-3 is cylindrical, snaps onto between support ring 2-12 and lower support ring 2-16, and on making three, the tripod of vertical beam 2-13, three crossbeam 2-14 and three lower vertical beam 2-15 formation is in its cavity,
Vertical beam 2-13 two sides along the circumferential direction arrange a pair strainometer 2-2 to every root;
On elastic body, linkage section 2-11 and apparatus axis 1 interference are fixed by socket, and under elastic body, linkage section 2-17 and sleeve 3-1 interference are fixed by socket, spherical roller 3-2 by pinned connection on the madial wall of sleeve 3-1 lower end;
Testing circuit 4 is by the voltage signal inputs of the voltage signal output end connection detection circuit 4 of twisted pair line connection strainometer 2-2, strainometer 2-2.
It is 10mm that three-dimensional micro force snesor for touching diagnosis under Wicresoft's environment described in present embodiment makes diameter, does not exceed the internal diameter that Minimally Invasive Surgery commonly uses sheath cover, can be inserted in patient body by sheath cover.Sheath body plays a very good protection to strainometer.Material therefor of the present invention mainly selects stainless steel, has good bio-compatibility, can not produce infringement to patient tissue.Testing circuit 4 is independent of outside mechanical system.
After spherical roller 3-2 is connected with sleeve 3-1, just completes the integrated of three-dimensional micro force snesor and rolling device, can effectively carry out continuous print in Minimally Invasive Surgery environment and organize touch operation.Spherical roller 3-2 has a rotational freedom.
Embodiment two: present embodiment is described below in conjunction with Fig. 5 and Fig. 6, present embodiment is described further embodiment one, described testing circuit 4 comprises Wheatstone bridge 4-1, conditioning amplifying circuit 4-2, three road simulation multiplexer 4-3, voltage follower 4-4, modulus conversion chip 4-5 and single-chip microcomputer 4-6
The voltage signal output end of strainometer 2-2 connects the signal input part of Wheatstone bridge 4-1, the signal output part of Wheatstone bridge 4-1 connects the signal input part of conditioning amplifying circuit 4-2, the signal output part of conditioning amplifying circuit 4-2 connects the signal input part of three road simulation multiplexer 4-3, the signal output part of three road simulation multiplexer 4-3 connects the signal input part of voltage follower 4-4, and the signal output part of voltage follower 4-4 connects the signal input part of modulus conversion chip 4-5;
The gating signal output terminal of single-chip microcomputer 4-6 connects the gating signal input end of three road simulation multiplexer 4-3, the reading convert data signal output terminal of single-chip microcomputer 4-6 connects the convert data signal input end of modulus conversion chip 4-5, and the data signal output of modulus conversion chip 4-5 connects the data signal input of single-chip microcomputer 4-6; Single-chip microcomputer 4-6 carries out data transmission by RS232 and host computer.
Present embodiment selects the main control chip of AT89S52 single-chip microcomputer as sensor of atmel corp, one piece of three road simulation multiplexer is selected to carry out gating conditioning amplifying circuit, signal is given sampling A/D chip again and is carried out sampling processing after voltage follower and amplitude limiter circuit process, three road simulation multiplexer 4-3 models are AD7503, and modulus conversion chip 4-5 selects 12 bit parallel analog/digital conversion monolithic integrated optical circuits of AD company.Testing circuit is in control procedure, acquisition instructions is sent to single-chip microcomputer by host computer PC, single-chip microcomputer controls three road simulation multiplexers according to instruction and A/D chip carries out data acquisition, sends to PC to hold, shown by user program to data analysis by RS232 serial ports.
Amplifying circuit shown in Fig. 6 comprises three low noise bipolar operational amplifier OP07 and corresponding feedback resistance and building-out capacitor, then outputs signal and exports after a cutoff frequency is the low-pass filter of 1kHZ.
Embodiment three: present embodiment is described below in conjunction with Fig. 2, present embodiment is described further embodiment one or two, and sheath body 2-3 is formed by two panels semicircular cylinder snapping, has gap between sheath body 2-3 and lower support ring 2-16.
The thickness of sheath body 2-3 is chosen as 0.2mm, and its top is bonding with upper support ring 2-12 by bonding mode, and bottom and the lower support ring 2-16 of sheath body 2-3 have reserved 0.2mm gap, for elastomeric distortion and overload protection provide enough spaces.
Claims (3)
1. under Wicresoft's environment for touching a three-dimensional micro force snesor for diagnosis, it is characterized in that, it comprises apparatus axis (1), microsensor (2), end tourelle (3) and testing circuit (4),
Microsensor (2) is made up of tripod elastic body (2-1), three pairs of strainometers (2-2) and sheath body (2-3), end tourelle (3) is made up of sleeve (3-1) and spherical roller (3-2)
Tripod elastic body (2-1) is made up of linkage section (2-17) under linkage section on elastic body (2-11), upper support ring (2-12), three upper vertical beams (2-13), three crossbeams (2-14), three lower vertical beams (2-15), lower support ring (2-16) and elastic bodys
Upper support ring (2-12) is coaxially fixed on the bottom of linkage section on elastic body (2-11) outer toroid, lower support ring (2-16) is coaxially fixed on the top of linkage section (2-17) outer toroid under elastic body, three upper vertical beams (2-13) are along the circumferential direction evenly arranged on support ring (2-12) lower surface, three lower vertical beams (2-15) are along the circumferential direction evenly arranged on lower support ring (2-16) upper surface, and vertical beam (2-13) is positioned in the middle of adjacent two lower vertical beams (2-15) on every root, on each root, the free end of vertical beam (2-13) is connected by a crossbeam (2-14) with the free end of adjacent lower vertical beam (2-15) in the counterclockwise direction, the orientation of crossbeam (2-14) is level, crossbeam (2-14) is in the arc-shaped of 60 degree, sheath body (2-3) is cylindrical, snap onto between support ring (2-12) and lower support ring (2-16), the tripod that three upper vertical beams (2-13), three crossbeams (2-14) and three lower vertical beams (2-15) are formed is in its cavity,
Vertical beam (2-13) two sides along the circumferential direction arrange a pair strainometer (2-2) to every root;
On elastic body, linkage section (2-11) and apparatus axis (1) interference are fixed by socket, under elastic body, linkage section (2-17) and sleeve (3-1) interference are fixed by socket, spherical roller (3-2) by pinned connection on the madial wall of sleeve (3-1) lower end;
Testing circuit (4) by twisted pair line connection strainometer (2-2), the voltage signal inputs of the voltage signal output end connection detection circuit (4) of strainometer (2-2).
2. under Wicresoft according to claim 1 environment for touching the three-dimensional micro force snesor of diagnosis, it is characterized in that, described testing circuit (4) comprises Wheatstone bridge (4-1), conditioning amplifying circuit (4-2), three road simulation multiplexers (4-3), voltage follower (4-4), modulus conversion chip (4-5) and single-chip microcomputer (4-6)
The voltage signal output end of strainometer (2-2) connects the signal input part of Wheatstone bridge (4-1), the signal output part of Wheatstone bridge (4-1) connects the signal input part of conditioning amplifying circuit (4-2), the signal output part of conditioning amplifying circuit (4-2) connects the signal input part of three road simulation multiplexers (4-3), the signal output part of three road simulation multiplexers (4-3) connects the signal input part of voltage follower (4-4), the signal output part of voltage follower (4-4) connects the signal input part of modulus conversion chip (4-5),
The gating signal output terminal of single-chip microcomputer (4-6) connects the gating signal input end of three road simulation multiplexers (4-3), the reading convert data signal output terminal of single-chip microcomputer (4-6) connects the convert data signal input end of modulus conversion chip (4-5), and the data signal output of modulus conversion chip (4-5) connects the data signal input of single-chip microcomputer (4-6); Single-chip microcomputer (4-6) carries out data transmission by RS232 and host computer.
3. under Wicresoft according to claim 1 and 2 environment for touching the three-dimensional micro force snesor of diagnosis, it is characterized in that, sheath body (2-3) is formed by two panels semicircular cylinder snapping, has gap between sheath body (2-3) and lower support ring (2-16).
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| JP2005257343A (en) * | 2004-03-09 | 2005-09-22 | Nagoya Industrial Science Research Inst | Optical tactile sensor, and sensing method and system, object operation force control method and device, object gripping force control device, and robot hand using optical tactile sensor |
| US8506555B2 (en) * | 2006-02-03 | 2013-08-13 | The European Atomic Energy Community (Euratom) | Robotic surgical system for performing minimally invasive medical procedures |
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