CN105547547A - Force and torque measurement sensor of colonoscope - Google Patents
Force and torque measurement sensor of colonoscope Download PDFInfo
- Publication number
- CN105547547A CN105547547A CN201610061538.2A CN201610061538A CN105547547A CN 105547547 A CN105547547 A CN 105547547A CN 201610061538 A CN201610061538 A CN 201610061538A CN 105547547 A CN105547547 A CN 105547547A
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- China
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- outer sleeve
- cell body
- sigmoidoscope
- sleeve
- measurement sensor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0028—Force sensors associated with force applying means
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The present invention discloses a force and torque measurement sensor of a colonoscope. The sensor comprises an inner sleeve composed of the first half part (18) of the inner sleeve and the bottom half part (27) of the inner sleeve, an outer sleeve composed of the first half part (3) of the outer sleeve and the bottom half part (5) of the outer sleeve, a locking mechanism composed of a locking upper cover (1) and a locking lower cover (6), and an elastomer (14). The locking mechanism is connected with the back end of the inner sleeve, the inner sleeve is located in the outer sleeve, and the elastomer is located at the back end of the inner side of the outer sleeve and is composed of a rood beam (33), a strain gauge and a sensing rod (34); and the strain gauge is pasted on four beams of the rood beam, the bottom end of the sensing rod (34) is connected with the intersection of the rood beam (33), and the top end of the bottom end of the sensing rod (34) is connected with the inner sleeve. The size is small, the operation is simple and the sensitivity is high, etc.
Description
Technical field
The invention belongs to endoscopic instrument and force cell technical field, particularly relate to the measurement mechanism of a kind of novel colonic mirror power and moment of torsion.
Background technology
Colonoscopy procedure has been widely applied in the middle of the inspection of enteropathy, Diagnosis and Treat at present with its high efficiency, minimal invasive.When using Sigmoidoscope, require that doctor accurately, safely sends the probe of Sigmoidoscope intervention hose end into aura position.Because human body intestinal canal structure is extremely complicated, this raw will assurance exactly when using Sigmoidoscope firmly of will seeking medical advice, if doctor is undue force when operating Sigmoidoscope, with regard to very possible, damage is caused to Intestinal Mucosal Injury in Patients Undergoing, thus bring great misery to patient, even can cause the perforation of intestines time serious, this just makes colonoscopy procedure there is certain risk and insecurity.But domesticly at present also do not have a kind of device effectively can detect doctor to get involved flexible pipe institute externally applied forces when operating Sigmoidoscope to it, do not have a kind ofly to operate to doctor the system that Sigmoidoscope level carries out quantitative evaluation yet.
Summary of the invention
For the deficiencies in the prior art, the object of this invention is to provide a kind of Sigmoidoscope power and torque measurement sensor, Sigmoidoscope power and the torque measurement sensor of Real-Time Monitoring can be carried out at operation Sigmoidoscope time institute externally applied forces to doctor, to solve the deficiency existed in background technology, when realizing operating Sigmoidoscope to doctor apply the quantitative evaluation of external force, thus can assist a physician draw oneself up better firmly, the misery of patient is alleviated with this, reduce the generation of the malpractices such as perforation, make colonoscopy procedure become safer.
For achieving the above object, present invention employs following technical scheme:
A kind of Sigmoidoscope power and torque measurement sensor, comprise the inner sleeve be made up of inner sleeve the first half 18 and inner sleeve the latter half 27, the outer sleeve be made up of outer sleeve the first half 3 and outer sleeve the latter half 5, the latch mechanism be made up of locking upper cover 1 and locking lower cover 6, and elastic body 14, described latch mechanism is connected with the rear end of inner sleeve, described inner sleeve is positioned at outer sleeve, described elastic body 14 is positioned at the rear end, inner side of outer sleeve, by rood beam 33, semiconductor gauge and sensing rod 34 form, described semiconductor gauge is pasted onto on four beams of rood beam 33, the bottom of described sensing rod 34 connects with the infall of rood beam 33, the upper end of sensing rod 34 connects with inner sleeve.
Preferably, described sensing rod is square.
Preferably, described latch mechanism also comprises motor 20, the front side of described locking upper cover 1 is connected by rotary bar 17 with the front side of locking lower cover 6, the rear side of described locking upper cover 1 is connected by screw rod 30 with the rear side of locking lower cover 6, it is inner that described motor 20 is positioned at locking lower cover 6, and the bottom of screw rod 30 is connected with motor 20.
Preferably, described locking lower cover 6 and inner sleeve the latter half 27 are in integrated.
Preferably, the shape of described outer sleeve the first half 3 and described outer sleeve the latter half 5 is fan-shaped, and the cross-sectional area of described outer sleeve the latter half 5 equals the cross-sectional area of described outer sleeve the first half 3.
Preferably, the concave surface of described outer sleeve the first half 3 is provided with outer sleeve first cell body 21, metallic channel 38 and outer sleeve second cell body 15, and described metallic channel 38 extends to the front end of described outer sleeve second cell body 15 from the rear end of described outer sleeve first cell body 21; Described outer sleeve the first half first cell body 21 is provided with switch 8, and the inside of metallic channel 38 is provided with wire 9, and outer sleeve the first half second cell body 15 is provided with battery 10.
Preferably, the front end of described outer sleeve the first half first cell body 21 is provided with peep-hole 2, and the rear end of outer sleeve the first half second cell body 15 is provided with charging hole 4.
Preferably, the outside of described inner sleeve is provided with inner sleeve first cell body 32, and inner sleeve first cell body 32 contacts with sensing rod.
Preferably, the concave region of described outer sleeve the latter half 5 is provided with outer sleeve the 3rd cell body 37 and outer sleeve the 4th cell body 19, is provided with elastic body 14, is provided with circuit board 13 in outer sleeve the 4th cell body 19 in outer sleeve the 3rd cell body 37.
The present invention compared with the existing technology, has the following advantages and beneficial effect:
1, the invention provides and a kind ofly can carry out the sensor of Real-Time Monitoring to doctor's external force be applied on Sigmoidoscope when operating Sigmoidoscope, effectively can improve the security of colonoscopy procedure, reduce operation risk, meanwhile, present invention also offers and a kind of the means that Sigmoidoscope level assesses, quantizes are operated to doctor.
2, Sigmoidoscope power provided by the invention and torque measurement sensor bulk little, easy to operate, weight little (being approximately 200g); Structure is simple, is convenient to processing, cost low (about 1000 yuan); Transmission of wireless signals is efficient; Precision is high, and dynamometry precision can reach 0.3N, and surveying torque precision can reach 0.01Nm; Measurement range is large, dynamometry scope: 0-30N, surveys torque range: 0-0.7Nm.
Accompanying drawing explanation
The schematic diagram that Fig. 1 is Sigmoidoscope power shown in embodiment 1 and torque measurement sensor application.
The schematic diagram that Fig. 2 assembles for Sigmoidoscope power shown in embodiment 1 and torque measurement sensor and Sigmoidoscope flexible pipe.
The main cut-open view that Fig. 3 is Sigmoidoscope power shown in embodiment 1 and torque measurement sensor.
The left cut-open view that Fig. 4 is Sigmoidoscope power shown in embodiment 1 and torque measurement sensor.
Fig. 5 is schematic diagram when outer sleeve is opened in Sigmoidoscope power shown in embodiment 1 and torque measurement sensor.
Fig. 6 is the structural representation of outer sleeve in Sigmoidoscope power shown in embodiment 1 and torque measurement sensor.
Fig. 7 is the structural representation of outer sleeve the latter half in Sigmoidoscope power shown in embodiment 1 and torque measurement sensor.
Fig. 8 is locked in the schematic diagram on Sigmoidoscope flexible pipe for inner sleeve in Sigmoidoscope power shown in embodiment 1 and torque measurement sensor.
Fig. 9 is the structural representation of latch mechanism and inner sleeve the latter half in Sigmoidoscope power shown in embodiment 1 and torque measurement sensor.
The structural representation that Figure 10 is Sigmoidoscope power shown in embodiment 1 and torque measurement sensor elastomer.
Wherein, 1 is locking upper cover, 2 is outer sleeve the first half peep-hole, 3 is outer sleeve the first half, 4 is battery charging hole, 5 is outer sleeve the latter half, 6 is locking lower cover, 7 is Sigmoidoscope flexible pipe, 8 is switch, 9 is wire, 10 is battery, 11 is battery cover board, 12 is circuit board cover plate, 13 is circuit board, 14 is elastic body, 15 is outer sleeve second cell body, 16 is outer sleeve rotary bar, 17 is latch mechanism rotary bar, 18 is inner sleeve the first half, 19 is outer sleeve the 4th cell body, 20 is motor charging hole, 21 is outer sleeve first cell body, 22 is bolt, 23 is latch mechanism, 24 is kinematic axis, 25 is inner sleeve rotary bar, 26 is elastic body cover plate, 27 is inner sleeve the latter half, 28 is motor, 29 is motor cover plate, 30 is screw rod, 31 is ball, 32 is inner sleeve first cell body, 33 is rood beam, 34 sensing rods, 35 is the first semiconductor gauge, 36 is the second semiconductor gauge, 37 is outer sleeve the 3rd cell body, 38 is metallic channel.
Embodiment
Below in conjunction with accompanying drawing illustrated embodiment, the present invention is further detailed explanation.
Embodiment 1
As shown in Figures 2 to 4, a kind of novel colonic mirror power and torque measurement sensor, comprise inner sleeve the first half 18, inner sleeve the latter half 27, outer sleeve the first half 3, outer sleeve the latter half 5, locking upper cover 1, locking lower cover 6, rood beam 33, motor 28 and sensing rod 34 etc.; Described rood beam 33 and sensing rod 34 form elastic body 14, described outer sleeve the first half 3 and described outer sleeve the latter half 5 form outer sleeve, the front side of described outer sleeve the first half 3 and the front side of described outer sleeve the latter half 5 are bolted, and the rear side of described outer sleeve the first half 3 is connected by outer sleeve rotary bar 16 with the rear side of described outer sleeve the latter half 5; It is inner that described inner sleeve is positioned at described outer sleeve, the front side of described inner sleeve the first half 18 and the front side of inner sleeve the latter half 27 are bolted, and the rear side of described inner sleeve the first half 18 is connected by inner sleeve rotary bar 25 with the rear side of inner sleeve the latter half 27.
One-handed performance is carried out in order to doctor can be facilitated, described inner sleeve the latter half 27 adopts unitary design with locking lower cover 6, the front side of described locking upper cover 1 is connected by latch mechanism rotary bar 17 with the front side of locking lower cover 6, the rear side of described locking upper cover is connected by screw rod 30 with the rear side of locking lower cover, locking lower cover 6 inside also comprises motor 28, and the bottom of screw rod 30 is connected with motor 28.When motor rotates forward, screw rod will be connected tightly with locking upper cover, thus makes latch mechanism contact with Sigmoidoscope flexible pipe and lock, and latch mechanism is in locking state as handle.Work as motor reversal, screw rod unclamps with locking upper cover, thus latch mechanism and Sigmoidoscope flexible pipe are unclamped, and handle is in slidably state, see Fig. 9.
As shown in Figure 10, in order to precisely reflect stressing conditions, elastic body is made up of rood beam 33, sensing rod 34 and semiconductor gauge.Rood beam is arranged in outer sleeve the 3rd cell body, and two, the left and right beam of rood beam is provided with a pair the first semiconductor gauge 35 for dynamometry, and two, front and back beam is provided with a pair for surveying the second semiconductor gauge 36 of moment of torsion.Described sensing rod 34 global shape is square, and its xsect is square, is positioned at the infall of rood beam.As shown in Figure 9, the outside of inner sleeve is provided with inner sleeve first cell body 32 and is connected with the upper end of sensing rod 34.
As shown in Fig. 5 ~ 7, the shape of described outer sleeve the first half 3 and described outer sleeve the latter half 5 is fan-shaped, and the cross-sectional area of described outer sleeve the latter half 5 equals the cross-sectional area of described outer sleeve the first half 3.The concave surface of described outer sleeve the first half is provided with outer sleeve first cell body 21, metallic channel 38 and outer sleeve second cell body 15, and described metallic channel 38 extends to the front end of described outer sleeve second cell body 15 from the rear end of described outer sleeve first cell body 21.On described outer sleeve, the first cell body 21 is provided with switch 8, and the inside of metallic channel 38 is provided with wire 9, is provided with battery 10 in outer sleeve second cell body 15.On described outer sleeve, the front end of the first cell body 21 is provided with peep-hole 2, and the rear end of outer sleeve the first half second cell body 15 is provided with charging hole 4.The concave region of described outer sleeve the latter half is provided with outer sleeve the 3rd cell body 37 and outer sleeve the 4th cell body 19.Be provided with elastic body 14 in outer sleeve the 3rd cell body 37, in outer sleeve the 4th cell body 19, be provided with circuit board 13.The shape of described outer sleeve first cell body 21, described outer sleeve second cell body 15, described outer sleeve the 3rd cell body 37 and described outer sleeve the 4th cell body 19 is square.
The present invention adopts resistance-strain type of dynamometer principle to realize being applied to doctor the measurement of operating physical force on Sigmoidoscope flexible pipe.When using this sensor, first Sigmoidoscope flexible pipe 7 is inserted in sensor inner sleeve, with latch mechanism 23, sensor inner sleeve is fixed on Sigmoidoscope flexible pipe 7.Outer force snesor and Sigmoidoscope flexible pipe have locks and unclamps two states.By controlling the rotating of motor 28, thus changing the screw-in distance of screw rod 30 in threaded hole, can control to lock the distance between upper cover 1 and locking lower cover 6, and then the locking that can control between latch mechanism 23 and flexible pipe 7 and releasing orientation.When doctor grasps outer sleeve the first half 3 and outer sleeve the latter half 5, and when the push-pull effort of front and back is applied to sensor, inner sleeve and outer sleeve will produce the relative motion of fore-and-aft direction, and elastomeric upper end is positioned at inner sleeve first cell body 32, lower end is positioned at outer sleeve the 3rd cell body 37, the rood beam 33 of elastic body 14 is now just equivalent to one " semi-girder ", upper end is fixed, lower end is stressed, thus generation deformation, the electric bridge be made up of the first semiconductor gauge 35 of dynamometry just can be converted into voltage signal the push-pull effort of front and back; In like manner, when doctor grasps outer sleeve the first half 3 and outer sleeve the latter half 5, and when suitable, counterclockwise torque is applied to sensor, sensing rod also can produce corresponding distortion, and the electric bridge be made up of the second semiconductor gauge 36 surveying moment of torsion just can be converted into voltage signal suitable, counterclockwise torque.As shown in Figure 1, signal through signal transacting by bluetooth dispensing device, is inputted computing machine and is for further processing and display, so just complete the measurement of operating physical force doctor being applied to Sigmoidoscope flexible pipe by measured voltage signal.When sensor installation, the upper end of sensing rod 34 to be aimed at inner sleeve first cell body 18, now can observe alignment case by peep-hole 2, to facilitate accurate installation, location, outer sleeve the first half 3 is connected with outer sleeve the latter half 5 with front terminal bolt 22 finally by outer sleeve rotary bar 16.This sensor also can be used for other endoscopic applications fields, as animal endoscopy, industrial endoscope detection etc.
Above-mentioned is can understand and apply the invention for ease of those skilled in the art to the description of embodiment.Person skilled in the art obviously easily can make various amendment to these embodiments, and General Principle described herein is applied in other embodiments and need not through performing creative labour.Therefore, the invention is not restricted to embodiment here, those skilled in the art, according to announcement of the present invention, do not depart from improvement that scope makes and amendment all should within protection scope of the present invention.
Claims (9)
1. a Sigmoidoscope power and torque measurement sensor, comprise the inner sleeve be made up of inner sleeve the first half (18) and inner sleeve the latter half (27), the outer sleeve be made up of outer sleeve the first half (3) and outer sleeve the latter half (5), the latch mechanism be made up of locking upper cover (1) and locking lower cover (6), and elastic body (14), described latch mechanism is connected with the rear end of inner sleeve, described inner sleeve is positioned at outer sleeve, it is characterized in that described elastic body (14) is positioned at the rear end, inner side of outer sleeve, by rood beam (33), semiconductor gauge and sensing rod (34) composition, described semiconductor gauge is pasted onto on four beams of rood beam (33), the bottom of described sensing rod (34) connects with the infall of rood beam (33), the upper end of sensing rod (34) connects with inner sleeve.
2. a kind of Sigmoidoscope power according to claim 1 and torque measurement sensor, is characterized in that described sensing rod is square.
3. Sigmoidoscope power according to claim 1 and torque measurement sensor, it is characterized in that described latch mechanism also comprises motor (20), the front side of described locking upper cover (1) is connected by rotary bar (17) with the front side of locking lower cover (6), the rear side of described locking upper cover (1) is connected by screw rod (30) with the rear side of locking lower cover (6), it is inner that described motor (20) is positioned at locking lower cover (6), and the bottom of screw rod (30) is connected with motor (20).
4. Sigmoidoscope power according to claim 1 and torque measurement sensor, is characterized in that described locking lower cover (6) and inner sleeve the latter half (27) are in integrated.
5. Sigmoidoscope power according to claim 1 and torque measurement sensor, it is characterized in that: the shape of described outer sleeve the first half (3) and described outer sleeve the latter half (5) is fan-shaped, the cross-sectional area of described outer sleeve the latter half (5) equals the cross-sectional area of described outer sleeve the first half (3).
6. Sigmoidoscope power according to claim 1 and torque measurement sensor, it is characterized in that: the concave surface of described outer sleeve the first half (3) is provided with outer sleeve first cell body (21), metallic channel (38) and outer sleeve second cell body (15), described metallic channel (38) extends to the front end of described outer sleeve second cell body (15) from the rear end of described outer sleeve first cell body (21); Described outer sleeve the first half first cell body (21) is provided with switch (8), the inside of metallic channel (38) is provided with wire (9), and outer sleeve the first half second cell body (15) is provided with battery (10).
7. Sigmoidoscope power according to claim 6 and torque measurement sensor, it is characterized in that: the front end of described outer sleeve the first half first cell body (21) is provided with peep-hole (2), the rear end of outer sleeve the first half second cell body (15) is provided with charging hole (4).
8. Sigmoidoscope power according to claim 1 and torque measurement sensor, is characterized in that: the outside of described inner sleeve is provided with inner sleeve first cell body (32), and inner sleeve first cell body (32) contacts with sensing rod.
9. Sigmoidoscope power according to claim 1 and torque measurement sensor, it is characterized in that: the concave region of described outer sleeve the latter half (5) is provided with outer sleeve the 3rd cell body (37) and outer sleeve the 4th cell body (19), be provided with elastic body (14) in outer sleeve the 3rd cell body (37), in outer sleeve the 4th cell body (19), be provided with circuit board (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610061538.2A CN105547547A (en) | 2016-01-28 | 2016-01-28 | Force and torque measurement sensor of colonoscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610061538.2A CN105547547A (en) | 2016-01-28 | 2016-01-28 | Force and torque measurement sensor of colonoscope |
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| Publication Number | Publication Date |
|---|---|
| CN105547547A true CN105547547A (en) | 2016-05-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610061538.2A Pending CN105547547A (en) | 2016-01-28 | 2016-01-28 | Force and torque measurement sensor of colonoscope |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108406841A (en) * | 2018-05-10 | 2018-08-17 | 熊琳 | A kind of torque sensor |
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|---|---|---|---|---|
| US20110065991A1 (en) * | 2009-09-14 | 2011-03-17 | Artann Laboratories, Inc. | Handgrip for assessment of colonoscope manipulation |
| CN103376172A (en) * | 2013-07-10 | 2013-10-30 | 上海交通大学 | Six-dimensional force sense sensor for minimally invasive surgical robot |
| CN103584826A (en) * | 2013-10-31 | 2014-02-19 | 天津博朗科技发展有限公司 | Endoscope fast locking device |
| CN103705204A (en) * | 2014-01-08 | 2014-04-09 | 华东理工大学 | Force and torque measurement senor for handheld colonoscope |
-
2016
- 2016-01-28 CN CN201610061538.2A patent/CN105547547A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110065991A1 (en) * | 2009-09-14 | 2011-03-17 | Artann Laboratories, Inc. | Handgrip for assessment of colonoscope manipulation |
| CN103376172A (en) * | 2013-07-10 | 2013-10-30 | 上海交通大学 | Six-dimensional force sense sensor for minimally invasive surgical robot |
| CN103584826A (en) * | 2013-10-31 | 2014-02-19 | 天津博朗科技发展有限公司 | Endoscope fast locking device |
| CN103705204A (en) * | 2014-01-08 | 2014-04-09 | 华东理工大学 | Force and torque measurement senor for handheld colonoscope |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108406841A (en) * | 2018-05-10 | 2018-08-17 | 熊琳 | A kind of torque sensor |
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