CN105193508A - Experiment table for three-dimensional force calibration of surgical micro instrument - Google Patents
Experiment table for three-dimensional force calibration of surgical micro instrument Download PDFInfo
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- CN105193508A CN105193508A CN201510696739.5A CN201510696739A CN105193508A CN 105193508 A CN105193508 A CN 105193508A CN 201510696739 A CN201510696739 A CN 201510696739A CN 105193508 A CN105193508 A CN 105193508A
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- 238000002474 experimental method Methods 0.000 title abstract description 8
- 238000006073 displacement reaction Methods 0.000 claims description 19
- 210000000080 chela (arthropods) Anatomy 0.000 claims description 8
- 239000011159 matrix material Substances 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 4
- 230000003068 static effect Effects 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 abstract 2
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 206010016256 fatigue Diseases 0.000 description 1
- 238000012977 invasive surgical procedure Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
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Abstract
The invention aims to provide an experiment table for three-dimensional force calibration of a surgical micro instrument. The experiment table comprises a mounting platform, a driving mechanism, a transmission mechanism, a link mechanism and a detection mechanism, wherein the driving mechanism mainly comprises a linear stepping motor and a fixing part; the linear stepping motor is linked with a motor fixing frame; the transmission mechanism comprises two same cylindrical linear guide rails which are linked through a guide rail crossbeam; the cylindrical guide rails are mounted on a guide rail supporting table through bolts; the link mechanism mainly represents the surgical micro instrument which mainly comprises a micro instrument push rod, a micro instrument guide pipe, a guide pipe connecting piece, two finger pliers with a force detection function, finger pliers rotational connecting pieces and a finger pliers rotational pin shaft. According to the experiment table, a force calibration experiment is realized by applying an external load to the ends of the finger pliers, with the force detection function, of the surgical micro instrument, and meanwhile, calibration, static calibration and dynamic calibration of forces in different angles can be realized.
Description
Technical field
What the present invention relates to is a kind of operating theater instruments, calibration experiment platform of specifically performing the operation.
Background technology
The micro-apparatus of micro-wound surgical operation is the vital apparatus of micro-wound surgical operation, doctor handles micro-apparatus and completes complicated operation process, make the wound of operation little, alleviate the misery of patient, also operating time and post-operative recovery time is made to shorten, this technology also overcomes doctor because of complexity of performing the operation, fatiguability and the unnecessary damage that causes, improves precision and the safety of operation.For Most current minimally-invasive surgery robot system, utilize robot assisted can realize Minimally Invasive Surgery smoothly, simultaneously, the micro-apparatus of micro-wound surgical operation is just along the intelligent direction development with power measuring ability, in actual minimal invasive surgical procedures, because wound is little, the vision of doctor is restricted, although doctor sees operative site by peritoneoscope by vision, but in order to the situation that doctor can be made to grasp actual lesion position really and accurately, reach the object of hand-eye coordination, namely doctor is except passing through Visual Observations Observations surgery situation, also by operation micro-apparatus moment feedback touch or the power visual information of grasping tissue organ, control the dynamics of adjustment operation technique, thus improve precision and the success rate of operation, it is very necessary for making the micro-apparatus of operation have power measuring ability, detect to ensure that the micro-apparatus of operation real realizable force in actual operation process is felt, the laboratory table that further investigation can be used for the demarcation of micro-wound surgical operation micro-apparatus multi-dimensional force is very necessary problem.
The research of the domestic and international laboratory table about the demarcation of micro-wound surgical operation micro-apparatus three-dimensional force is less at present, major part power calibration experiment platform carries out calibration experiment for general multi-dimension force sensor, and it is very important for therefore designing the laboratory table that the micro-apparatus of a kind of micro-wound surgical operation for having power measuring ability carries out three-dimensional force demarcation.
Summary of the invention
The object of the present invention is to provide be applicable to robot assisted micro-wound surgical operation field a kind of to can be used for performing the operation laboratory table that micro-apparatus three-dimensional force demarcates.
The object of the present invention is achieved like this:
The present invention is a kind of be can be used for performing the operation the laboratory table that micro-apparatus three-dimensional force demarcates, it is characterized in that: comprise mounting platform, linear stepping motor, to perform the operation micro-apparatus, linear stepping motor is arranged on mounting platform by motor fixing frame, mounting platform is fixed with the first line slideway and the second line slideway, first line slideway and the second line slideway lay respectively at the both sides of motor fixing frame, first straight-line guide rail slide block is set in the first line slideway, second straight-line guide rail slide block is set in the second line slideway, fixed guide crossbeam on first straight-line guide rail slide block and the second straight-line guide rail slide block, the output shaft of linear stepping motor is by motor contact connection guide rail crossbeam, the micro-apparatus of described operation comprises micro-apparatus push rod, micro-instrument catheter, micro-apparatus push rod stretches in micro-instrument catheter, the first finger forceps rotating connector installed by micro-apparatus push rod outfan, second finger pincers rotating connector, first finger forceps rotating connector connects the first finger forceps, second finger pincers rotating connector connects second finger pincers, first finger forceps and second finger clamp arranged in a crossed manner, at infall, finger forceps rotating pin is installed, micro-instrument catheter connecting duct connector, pipe joint element is arranged on the outside of the first finger forceps and second finger pincers by finger forceps rotating pin, the input of micro-apparatus push rod connects motor contact and guide rail beam, mounting platform is arranged micro-apparatus fixed support, micro-instrument catheter is arranged on micro-apparatus fixed support by vertical support seat.
The present invention can also comprise:
1, sensor installation brace table on mounting platform, sensor support platform is installed linear displacement transducer matrix, installs linear displacement transducer slide block below guide rail beam, and linear displacement transducer slide block is arranged in linear displacement transducer matrix.
2, mounting platform is installed manual fine-tuning platform, manual fine-tuning platform is provided with leading screw, the slide block be mated is installed in leading screw outside, and slide block is fixed with guide rail bracket, and the middle part of micro-instrument catheter is arranged on guide rail bracket.
Advantage of the present invention is:
1. structure of the present invention is simple, and mechanism's bearing capacity is large, and kinematic accuracy is high, and overall structure is structure symmetrically, and load is symmetrically distributed,
2. drive mechanism friction of the present invention is little, and inertia is little, and the linearity is high, controls easily.
3. design of part of the present invention is simple, is easy to processing and manufacturing, is convenient to install, dismantle and maintenance.
4. the present invention is applicable to the micro-apparatus multi-dimensional force demarcation of micro-wound surgical operation, can carry out static demarcating and also can carry out dynamic calibration.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is that the present invention performs the operation micro-apparatus schematic diagram;
Fig. 3 is that the present invention performs the operation micro-apparatus drive mechanism schematic diagram;
Fig. 4 is linear displacement transducer schematic diagram of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing citing, the present invention is described in more detail:
Composition graphs 1 ~ 4, the present invention is the laboratory table that a kind of micro-apparatus three-dimensional force that can be used for performing the operation is demarcated, and its composition comprises: mounting platform, driving mechanism, drive mechanism, linkage and testing agency.Actuator in driving mechanism is linear stepping motor 2, linear stepping motor 2 is bolted to motor supporting table 19 by motor fixing frame 3 by four, linear stepping motor axle is connected with drive mechanism by motor contact 5, and motor contact 5 is fixed on step motor shaft by nut, drive mechanism mainly comprises two cylindrical linear rails and guide rail beam 6, first cylindrical linear rail is made up of line slideway 4 and straight-line guide rail slide block 7, second cylindrical linear rail is made up of line slideway 18 and straight-line guide rail slide block 16, to perform the operation micro-apparatus 11 and guide rail beam 6 and the same bolt-connection of motor contact 5, guide rail beam 6 and operation micro-apparatus 11 straight forward movement will be promoted when linear stepping motor 2 works, guide rail beam 6 connects with straight-line guide rail slide block 7 and straight-line guide rail slide block 16, thus ensure that the micro-apparatus 11 of operation prolongs guide rail rectilinear motion, while motion, the slide block 15-1 of linear displacement transducer 15 is moved together with bolt-connection with guide rail beam 6, linear displacement transducer 15 measures the actual displacement amount of the micro-apparatus of operation, and it is fixed on sensor support platform 14, in order to ensure to perform the operation there is not left and right downward shift in micro-apparatus 11, vertical support seat 9 and catheter carriage 13 is adopted to position, connect with manual fine-tuning platform 12 bottom catheter carriage 13, thus realize catheter carriage and can prolong guide rail to carry out fine setting mobile, be convenient to mounting and adjusting and the follow-up analysis to deformation of guide tube, part on a whole set of platform is all fixed on the mounting platform 1 of the bottom, ensure that the level of experimental provision is installed.
By reference to the accompanying drawings 2, accompanying drawing 3, the present invention is the laboratory table that a kind of micro-apparatus three-dimensional force that can be used for performing the operation is demarcated, micro-apparatus of performing the operation comprises: micro-apparatus push rod 20, micro-instrument catheter 21, pipe joint element 22, finger forceps 24 and 25, finger forceps rotating connector 23 and 27 and finger forceps rotating pin 26, when linear stepping motor 2 drives guide rail beam 6 to move, micro-apparatus push rod 20 will be promoted move, now micro-instrument catheter 21 is fixed by vertical support seat 9, pipe joint element 22 and micro-instrument catheter 21 tight joint, micro-apparatus push rod 20 promotes joining finger forceps rotating connector 23 and 27 with it and moves simultaneously, finger forceps rotating connector promotes to rotate with the finger forceps 24 and 25 that finger forceps rotating pin 26 is rotating shaft, opening and closing while realizing finger forceps 24 and 25, external applied load is applied to the end of the micro-apparatus finger forceps of the operation with power measuring ability, demarcation when can realize gripping objects state and different angles carry out the demarcation of power detection, also static demarcating and dynamic calibration can be realized.
By reference to the accompanying drawings 4, the present invention is the laboratory table that a kind of micro-apparatus three-dimensional force that can be used for performing the operation is demarcated, testing agency mainly comprises linear displacement transducer 15 and sensor support platform 14, linear displacement transducer slide block 15-1 upper surface is connected by bolt with guide rail beam 6 lower surface, linear displacement transducer slide block 15-1 is driven to move when guide rail beam 6 moves along guide rail, linear displacement transducer matrix 15-2 is fixed on sensor support platform 14 by coupling assembling, thus realize the actual displacement that linear displacement transducer detects micro-apparatus push rod 20 in real time, and then detect the folding angle of finger forceps.
The present invention includes mounting platform, driving mechanism, drive mechanism, linkage and testing agency.Driving mechanism is formed primarily of linear stepping motor and retaining element, and linear stepping motor connects with motor fixing frame, and motor fixing frame and motor supporting table are fixed by four bolts; Drive mechanism comprises two identical cylindrical linear rails, and two cylindrical linear rails are connected by guide rail beam, and cylindrical guide is arranged on guide supporting platform by bolt, symmetrical along motor shaft center line; Linkage mainly refers to micro-apparatus of performing the operation, linear stepping motor is connected with above guide rail beam by motor contact, micro-apparatus push rod is connected below guide rail beam, three parts are connected by identical bolt, push rod and finger forceps rotating connector pass through pin shaft joint, two panels finger forceps is also connected with finger forceps rotating connector by bearing pin, micro-instrument catheter outside push rod is fixed on micro-apparatus fixed support by vertical support seat, conduit is supported by catheter carriage below, and catheter carriage is arranged on manual fine-tuning platform; Slide block of sensor above linear displacement transducer connects with guide rail beam, and be fixed on sensor support platform below, brace table used is all bolted on the mounting platform of the bottom.
Cylindrical linear rail comprises; Line slideway and straight-line guide rail slide block, and support the use in pairs.
Micro-apparatus of performing the operation comprises; Micro-apparatus push rod, micro-instrument catheter, pipe joint element, finger forceps rotating connector, two panels finger forceps and multiple bearing pin, two panels finger forceps and pipe joint element are by pin shaft joint, and conduit is connected by interference fit with pipe joint element.
Claims (3)
1. micro-apparatus three-dimensional force that can be used for performing the operation laboratory table of demarcating, it is characterized in that: comprise mounting platform, linear stepping motor, to perform the operation micro-apparatus, linear stepping motor is arranged on mounting platform by motor fixing frame, mounting platform is fixed with the first line slideway and the second line slideway, first line slideway and the second line slideway lay respectively at the both sides of motor fixing frame, first straight-line guide rail slide block is set in the first line slideway, second straight-line guide rail slide block is set in the second line slideway, fixed guide crossbeam on first straight-line guide rail slide block and the second straight-line guide rail slide block, the output shaft of linear stepping motor is by motor contact connection guide rail crossbeam, the micro-apparatus of described operation comprises micro-apparatus push rod, micro-instrument catheter, micro-apparatus push rod stretches in micro-instrument catheter, the first finger forceps rotating connector installed by micro-apparatus push rod outfan, second finger pincers rotating connector, first finger forceps rotating connector connects the first finger forceps, second finger pincers rotating connector connects second finger pincers, first finger forceps and second finger clamp arranged in a crossed manner, at infall, finger forceps rotating pin is installed, micro-instrument catheter connecting duct connector, pipe joint element is arranged on the outside of the first finger forceps and second finger pincers by finger forceps rotating pin, the input of micro-apparatus push rod connects motor contact and guide rail beam, mounting platform is arranged micro-apparatus fixed support, micro-instrument catheter is arranged on micro-apparatus fixed support by vertical support seat.
2. a kind of micro-apparatus three-dimensional force that can be used for performing the operation according to claim 1 laboratory table of demarcating, it is characterized in that: sensor installation brace table on mounting platform, sensor support platform is installed linear displacement transducer matrix, install linear displacement transducer slide block below guide rail beam, linear displacement transducer slide block is arranged in linear displacement transducer matrix.
3. a kind of micro-apparatus three-dimensional force that can be used for performing the operation according to claim 1 and 2 laboratory table of demarcating, it is characterized in that: mounting platform is installed manual fine-tuning platform, manual fine-tuning platform is provided with leading screw, the slide block be mated is installed in leading screw outside, slide block is fixed with guide rail bracket, and the middle part of micro-instrument catheter is arranged on guide rail bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510696739.5A CN105193508B (en) | 2015-10-23 | 2015-10-23 | A kind of experimental bench available for micro- apparatus three-dimensional force demarcation of performing the operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510696739.5A CN105193508B (en) | 2015-10-23 | 2015-10-23 | A kind of experimental bench available for micro- apparatus three-dimensional force demarcation of performing the operation |
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| Publication Number | Publication Date |
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| CN105193508A true CN105193508A (en) | 2015-12-30 |
| CN105193508B CN105193508B (en) | 2017-10-27 |
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| CN201510696739.5A Expired - Fee Related CN105193508B (en) | 2015-10-23 | 2015-10-23 | A kind of experimental bench available for micro- apparatus three-dimensional force demarcation of performing the operation |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105486340A (en) * | 2016-01-27 | 2016-04-13 | 昆山硅步机器人技术有限公司 | Multifunctional finger sensor calibrating tool |
| CN105954129A (en) * | 2016-07-04 | 2016-09-21 | 湖南瀚德微创医疗科技有限公司 | Fatigue performance testing device for laparoscopic surgical forceps |
| CN113384350A (en) * | 2021-06-17 | 2021-09-14 | 北京航空航天大学 | Ophthalmic surgical robotic system with visual guidance and micro-force perception capabilities |
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2015
- 2015-10-23 CN CN201510696739.5A patent/CN105193508B/en not_active Expired - Fee Related
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|---|---|---|---|---|
| US5431645A (en) * | 1990-05-10 | 1995-07-11 | Symbiosis Corporation | Remotely activated endoscopic tools such as endoscopic biopsy forceps |
| CN101561334A (en) * | 2009-05-15 | 2009-10-21 | 天津大学 | Method for calibrating three-dimensional micro-touch force sensor |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105486340A (en) * | 2016-01-27 | 2016-04-13 | 昆山硅步机器人技术有限公司 | Multifunctional finger sensor calibrating tool |
| CN105954129A (en) * | 2016-07-04 | 2016-09-21 | 湖南瀚德微创医疗科技有限公司 | Fatigue performance testing device for laparoscopic surgical forceps |
| CN105954129B (en) * | 2016-07-04 | 2018-11-20 | 湖南瀚德微创医疗科技有限公司 | A kind of fatigue property test device of surgical forceps for abdominoscope |
| CN113384350A (en) * | 2021-06-17 | 2021-09-14 | 北京航空航天大学 | Ophthalmic surgical robotic system with visual guidance and micro-force perception capabilities |
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| Publication number | Publication date |
|---|---|
| CN105193508B (en) | 2017-10-27 |
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