CN110368098B - Puncture force detection sensor - Google Patents
Puncture force detection sensor Download PDFInfo
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- CN110368098B CN110368098B CN201910750261.8A CN201910750261A CN110368098B CN 110368098 B CN110368098 B CN 110368098B CN 201910750261 A CN201910750261 A CN 201910750261A CN 110368098 B CN110368098 B CN 110368098B
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- direction detection
- outer ring
- detection beam
- ring seat
- puncture
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
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- Health & Medical Sciences (AREA)
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- Life Sciences & Earth Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
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- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention relates to a puncture force detection sensor which comprises an outer ring seat (2) connected with a base (1), wherein an X-direction detection beam (7) and a Y-direction detection beam (8) are arranged between a lower circular table (11) and an upper circular table (6) which are arranged in the outer ring seat, and a puncture needle (4) penetrates through the X-direction detection beam and the Y-direction detection beam; two pairs of orthogonal MZ moment detection beams (9) and a connected Z-direction detection beam (10) are arranged on the cylindrical surface of the lower circular truncated cone and are connected with the inner wall of the outer ring seat; and block strain gauges (17) are attached to all the detection beams. The invention has the advantages that: in the operation process of the puncture operation, the size of the needle inserting force is identified in real time, a real-time dynamic needle inserting strategy is realized, and a intern can know different puncture forces required by penetrating through different cortex layers, so that more visual and quantitative feeling is formed. The stress process of the needle of the puncture needle can be analyzed, the total resultant force can be divided into forces in the X direction, the Y direction, the Z direction and the MZ moment, the dimensionality of the sensor is four-dimensional, decoupling of the sensor in the later period is facilitated, and the measurement precision is improved.
Description
Technical Field
The invention relates to the technical field of medical instrument detection, in particular to a puncture force detection sensor for a puncture needle.
Technical Field
In the minimally invasive surgery, the needle inserting operation of an attending doctor is completely dependent on personal experience, and is difficult to be taught to a doctor through languages, demonstration and the like. The operating force of the needle insertion process is detected in real time by a technical method, the needle insertion operating force is completely recorded and visually displayed, and the method has important application value and academic significance for clinical practice of minimally invasive surgery. The robot-assisted needle puncture system is beneficial to the stability of the needle insertion process of doctors, lightens the labor intensity of the doctors, reduces the wound section and accelerates the operation recovery of patients. Different mechanical properties of different tissue layers show different needle insertion characteristics, and in order to achieve a better needle insertion effect, different force values are adopted for different tissue layers, so that a real-time dynamic needle insertion strategy is realized, and the magnitude of the needle insertion force needs to be identified in real time.
The invention patent CN 109431473A of China patent number is based on the vein puncture system that pressure field detected and includes: a plurality of infrared cameras fixed in the treatment room; the detection device is provided with a detection surface with a variable shape, and three-dimensional pressure sensors which are vertical to the detection surface are arranged on the detection surface in a matrix manner; the pressurizing device is used for applying pressure to local skin at a certain position of the proximal end of the puncture vein; a master control device; the main control device of the puncture device controls the puncture device to operate the puncture needle to puncture skin, subcutaneous tissue and vein in sequence according to the puncture point, the puncture angle and the puncture path. The automatic operation of vein location is realized, but can not fully realize the comparatively accurate measurement to puncture power size, and the sensor dimension of measuring power is also not sufficient enough. The invention patent with Chinese patent number CN 109431473A is used for six-dimensional force/torque sensor of a manipulator for quantifying acupuncture manipulation, and comprises a driving platform, a flexible cross shaft, a driven platform, a bearing assembly, four flexible P hinges, eight universal hinges, a needle, a P hinge support and a needle seat, and forms a flexible parallel mechanism for detecting the force/torque of an acupuncture needle. The six-dimensional force decoupling device is better for extracting lifting, inserting, twisting, rotating and shaking forces in traditional Chinese medicine, but the mechanism is not miniaturized, the integration cannot be carried out along with an operator, the device cannot be fully connected with a robot for use, the device has obvious defects in automatic integrated use, and meanwhile, the six-dimensional force is used in the dimensionality of a sensor, the six-dimensional force is troublesome in decoupling, the decoupling precision is very easy to influence, and the measuring precision is influenced.
Disclosure of Invention
The invention aims to solve the defect that a puncture needle in the prior art cannot accurately obtain mechanical parameters in a puncture process, and provides a puncture force detection sensor.
In order to achieve the purpose, the invention provides the following technical scheme:
a puncture force detection sensor characterized by comprising:
a. the center of the base is provided with an operation screw hole for the puncture needle to pass through, and a group of fixing holes which are connected and matched with the robot are arranged in the base;
b. the outer ring seat is coaxially connected with the base, a lower circular truncated cone is arranged in the center of an inner cavity of the outer ring seat, two pairs of X-direction detection beams and Y-direction detection beams which are orthogonal are arranged on the end face of the lower circular truncated cone, the beam faces of the X-direction detection beams and the Y-direction detection beams are axially parallel to the outer ring seat, an upper circular truncated cone is arranged on the upper end faces of the X-direction detection beams and the Y-direction detection beams, and an operation screw hole which is coaxial with the outer ring seat and is used for a puncture needle to pass through is arranged in the centers of the lower circular truncated cone and the upper circular truncated cone;
two pairs of orthogonal MZ moment detection beams are arranged on the cylindrical surface of the lower circular truncated cone, the beam surface of each MZ moment detection beam is parallel to the axial direction of the outer ring seat, the other end of each MZ moment detection beam is connected with one Z-direction detection beam, the beam surface of each Z-direction detection beam is perpendicular to the axial line of the outer ring seat, and the other end of each Z-direction detection beam is connected with the inner wall of the outer ring seat;
c. the cover surface of the protective cover is connected and matched with the upper end surface of the outer ring seat, the center of the protective cover is also provided with a protective cylinder, and after the puncture needle is connected and fixed through each operation screw hole, the upper part of the puncture needle penetrates through the protective cylinder and leaks out of the end surface of the protective cylinder;
d. the X-direction detection beam, the Y-direction detection beam, the MZ moment detection beam and the Z-direction detection beam are respectively adhered with 2-3 strain gauges on two beam surfaces of each beam.
On the basis of the wig, the following further technical scheme is adopted:
and the beam surface of each MZ moment detection beam forms an included angle of 45 degrees with the beam surface of the corresponding X-direction detection beam.
And the beam surface of the MZ moment detection beam is perpendicular to the beam surface of the Z-direction detection beam.
And a wire hole of the strain foil electrical connecting wire is arranged on the cylindrical surface of the outer ring seat.
The operation screw hole is a screw hole, and the puncture needle is connected with the operation screw hole through self threads.
The protective cylinder on the protective cover is in clearance fit with the puncture needle.
The bottom surface of the base is provided with an installation platform which is used for connecting a robot link, installing a positioning surface and matching with the robot gripper in a connecting way
In the technical scheme of the invention, the X-direction detection beam is used for detecting the stress in the X direction, and the strain gauges are attached to the front surface and the back surface of the sensitive area of the X-direction detection beam and are used for detecting the change of the stress when the stress in the X direction is applied.
The Y-direction detection beam and the X-direction detection beam form an included angle of 90 degrees. And the Y-direction detection beam is used for detecting the stress in the Y direction, and strain gauges are attached to the front surface and the back surface of the sensitive area of the Y-direction detection beam and are used for detecting the change of the force when the force in the Y direction is applied.
The Z-direction detection beam and the X-direction detection beam form an included angle of 45 degrees, the Z-direction detection beam is used for detecting stress in the Z direction, and strain gauges are attached to the front and the back of a sensitive area of the Z-direction detection beam and used for detecting the change of the stress in the Z direction.
The MZ moment detection beam and the X direction detection beam form a 45-degree included angle. The MZ moment detection beam is used for detecting MZ moment atress, and the MZ moment detects the positive and back subsides of beam sensitive area and pastes the foil gage, is used for detecting the change of power when the MZ direction atress.
The wire hole of the outer ring seat is a hole for connecting the strain gauge power supply output and output signal connecting wire with an external circuit.
The puncture needle is directly connected with the upper round table and the lower round table of the sensor through threaded connection, so that the puncture needle and the sensor measuring beam are integrated, and the acting force applied to the puncture needle can be transmitted to the acting beam.
The visor is connected with the sensor outer lane through four connecting screw for sealed sensor upper portion, the hole in the middle of keeps the clearance with pjncture needle seat, and protection X direction detects roof beam, Y to detecting roof beam, Z to detecting roof beam, sensor MZ moment and detects the roof beam, avoids external force destruction, electromagnetic interference, dust and moisture to influence the measurement accuracy of stress piece, guarantees that the effort of needle can not transmit the protection and cover, influences measurement accuracy.
The invention has the advantages that the requirement of operation without influencing the puncture process is met, the integrated design of the puncture force recognition sensor and the operation needle is met, the real-time dynamic needle inserting strategy is realized, the size of the needle inserting force is recognized in real time, and the requirement that a intern can know different puncture forces required by penetrating through different cortex layers when the intern performs the puncture operation is met, so that more visual and quantitative feeling is formed. The stress process of the needle of the puncture needle is analyzed, the total resultant force can be divided into forces in the X direction, the Y direction, the Z direction and the MZ moment, the dimensionality of the sensor is four-dimensional, decoupling of the sensor in the later period is facilitated, and the measurement precision is improved.
Drawings
FIG. 1 is a front perspective view of a lancing force detection sensor;
FIG. 2 is a reverse perspective view of FIG. 1;
FIG. 3 is a view showing an internal structure of the puncturing force detecting sensor shown in FIG. 1 with a protective cover removed;
FIG. 4 is a front perspective view of the lancing force sensor body shown in the outer race (2);
FIG. 5 is a reverse perspective view of FIG. 4;
fig. 6 is a perspective view of the base 1 of fig. 1;
fig. 7 is a perspective view of the puncture needle of fig. 1.
Detailed Description
The invention provides a puncture force detection sensor, which comprises the following components:
a. as shown in fig. 1, 2, 3 and 6, a cylindrical base 1 is provided with an operating screw hole 15 for passing a puncture needle at the center of the bottom surface, and a group of four fixing holes 14 connected and matched with a robot are symmetrically arranged at the center of the bottom surface of the base;
b. the outer ring seat 2 is coaxially connected with the base 1 and is connected to the base through a screw; as shown in fig. 1, 3, 4 and 5, a lower circular truncated cone 11 is arranged in the center of an inner cavity of the outer ring seat, two pairs of orthogonal X-direction detection beams 7 and Y-direction detection beams 8 are arranged on the end surface of the lower circular truncated cone, each pair of circular truncated cones below the X-direction detection beams 7 are arranged in a central symmetry manner, the circular truncated cones below the Y-direction detection beams 8 are arranged in a central symmetry manner, the beam surfaces of the X-direction detection beams 7 and the Y-direction detection beams 8 are axially parallel along the outer ring seat 2, the upper end surfaces of all the X-direction detection beams 7 and the Y-direction detection beams 8 are provided with upper circular truncated cones 6, and the centers of the lower circular truncated cones and the upper circular truncated cones are provided with operation screw holes 15 which are coaxial with the outer ring seat 2 and are used for puncture needles to pass through and connect;
the cylindrical surface of the outer ring seat 13 is provided with a wire hole 5 of a strain gauge electrical connecting wire, the X-direction detection beam 7 and the wire hole are in the same direction, and strain gauges are attached to the front and the back of a beam surface sensitive area of the X-direction detection beam 7 and used for detecting the force change in the X-direction stress.
The Y-direction detection beam 8 and the sensor X7 form an included angle of 90 degrees, and strain gauges are attached to the front and back of the sensitive area of the beam surface of the Y-direction detection beam 8 and used for detecting the force change in the Y-direction stress.
Two pairs of orthogonal MZ moment detection beams 9 are arranged on the cylindrical surface of the lower circular truncated cone 11, and each pair of MZ moment detection beams are respectively arranged along the radial direction and symmetrically with the center of the circular truncated cone 11; the beam surface of each MZ moment detection beam 9 is parallel to the axial direction of the outer ring seat 2, the other end of each MZ moment detection beam 9 is connected with one transition table 9a, the other end of each transition table 9a is connected with one Z-direction detection beam 10, the beam surface of each Z-direction detection beam 10 is perpendicular to the axial direction of the outer ring seat 2, namely, the beam surfaces of the MZ moment detection beams 9 and the Z-direction detection beams 10 are perpendicular to each other, and the other end of each Z-direction detection beam is connected with the inner wall of the outer ring seat 2;
as shown in fig. 3, 4 and 5, the beam surface of each MZ moment detection beam 9 forms an angle of 45 degrees with the beam surface of the corresponding X-direction detection beam 7.
An included angle of 45 degrees is formed between the Z-direction detection beam 10 and the X-direction detection beam 7, and strain gauges are attached to the front surface and the back surface of a sensitive area of the beam surface of the Z-direction detection beam 10 and used for detecting the force change in the Z-direction stress.
An included angle of 45 degrees is formed between the sensor MZ moment detection beam 9 and the sensor X-direction 7 detection beam, the included angle is perpendicular to the Z-direction detection beam 10, and strain gauges are attached to the front surface and the back surface of a beam surface sensitive area of the sensor MZ moment detection beam 9 and used for detecting the force change in the MZ direction when the force is applied.
c. The cover surface of the protective cover 3 is connected and matched with a screw hole 13 on the upper end surface of the outer ring seat 2 through a screw 3b, and the center of the protective cover 3 is also provided with a protective cylinder 3 a; as shown in fig. 7, the body of the puncture needle 4 is provided with threads, and after the puncture needle 4 is fixedly connected with each operation screw hole 15, the upper part of the puncture needle passes through the protective cylinder in clearance fit and extends out of the end surface of the protective cylinder; the puncture needle is directly connected in the screw holes of the upper round platform 6 and the lower round platform 11 through threaded connection, so that the puncture needle and the sensor measuring beam are integrated, and the acting force applied to the puncture needle can be transmitted to the acting beam.
The protective cover is connected with the outer ring seat of the sensor through four connecting screws 3 and used for sealing the upper part of the sensor, and a gap is reserved between a hole in the middle and the puncture needle seat. The X-direction detection beam 7, the Y-direction detection beam 8, the Z-direction detection beam 10 and the sensor MZ moment detection beam 9 avoid external force damage, electromagnetic interference, dust and moisture to influence the measurement accuracy of the stress sheet, and ensure that the acting force of the needle cannot be transmitted to the protective cover to influence the measurement accuracy.
d. The X-direction detection beam 7, the Y-direction detection beam 8, the MZ moment detection beam 9 and the Z-direction detection beam 10 are respectively adhered with 2-3 strain gauges 17 on two beam surfaces of each beam.
e. As shown in fig. 2, 3, 5 and 6, the base 1 is connected to the connection hole 2a on the bottom surface of the outer ring base 2 by four screws 16 a; the groove 1a on the front surface of the base 1 is a positioning surface of the outer ring seat 2; the groove 16 on the back of the base 1 is connected with a robot mounting and positioning surface and is connected with a robot gripper; the through hole is used for leading the implantation needle to enter the puncture needle.
The invention provides a puncture force detection sensor, which comprises the following specific measurement methods:
firstly, a cortex is obtained by the contact of a puncture needle, and the resistance of the cortex acts on the puncture needle;
secondly, the puncture needle is connected with the upper boss and the lower boss through threads to form a whole, and force acts on the sensor body;
thirdly, the sensor body deforms, and the resistance of the strain gauge changes;
fourthly, converting the change of the resistance into the change of a voltage value;
fifthly, converting the voltage value change into acting force; the force change is measured.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. A puncture force detection sensor characterized by comprising:
a, a base (1), wherein the center of the base is provided with an operation screw hole (15) for a puncture needle to pass through, and a group of fixing holes (14) which are connected and matched with a robot are arranged in the base;
the outer ring seat (2) is coaxially connected with the base (1), a lower circular table (11) is arranged in the center of an inner cavity of the outer ring seat, two pairs of orthogonal X-direction detection beams (7) and Y-direction detection beams (8) are arranged on the end face of the lower circular table, the beam faces of the X-direction detection beams (7) and the Y-direction detection beams (8) are parallel to the axis of the outer ring seat (2), an upper circular table (6) is arranged on the upper end faces of the X-direction detection beams (7) and the Y-direction detection beams (8), and an operation screw hole (15) which is coaxial with the outer ring seat (2) and is used for a puncture needle to pass through is arranged in the centers of the lower circular table and the upper circular table;
two pairs of orthogonal MZ moment detection beams (9) are arranged on the cylindrical surface of the lower circular truncated cone (11), the beam surface of each MZ moment detection beam (9) is parallel to the axis of the outer ring seat (2), the other end of each MZ moment detection beam (9) is connected with one Z-direction detection beam (10), the beam surface of each Z-direction detection beam (10) is perpendicular to the axis of the outer ring seat (2), and the other end of each Z-direction detection beam is connected with the inner wall of the outer ring seat (2);
c, the cover surface of the protective cover (3) is connected and matched with the upper end surface of the outer ring seat (2), the center of the protective cover (3) is also provided with a protective cylinder (3 a), and after the puncture needle (4) passes through, is connected and fixed through each operation screw hole (15), the upper part of the puncture needle passes through the protective cylinder and extends out of the end surface of the protective cylinder;
and d, 2-3 strain gauges (17) are respectively adhered to two beam surfaces of each beam of the X-direction detection beam (7), the Y-direction detection beam (8), the MZ moment detection beam (9) and the Z-direction detection beam (10).
2. The piercing force detecting sensor according to claim 1, characterized in that: the beam surface of each MZ moment detection beam (9) forms an included angle of 45 degrees with the beam surface of the corresponding X-direction detection beam (7).
3. A piercing force detecting sensor according to claim 2, characterized in that: the beam surface of the MZ moment detection beam (9) is vertical to the beam surface of the Z-direction detection beam (10).
4. A piercing force detecting sensor according to claim 1, 2 or 3, wherein: the cylindrical surface of the outer ring seat (2) is provided with a wire hole (5) of the strain gauge electrical connecting wire.
5. A piercing force detecting sensor according to claim 1, characterized in that: the operation screw hole (15) is a screw hole, and the puncture needle (4) is fixedly connected with the operation screw hole (15) through self threads.
6. A piercing force detecting sensor according to claim 5, wherein: the protective cylinder (3 a) on the protective cover (3) is in clearance fit with the upper part of the puncture needle (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910750261.8A CN110368098B (en) | 2019-08-14 | 2019-08-14 | Puncture force detection sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910750261.8A CN110368098B (en) | 2019-08-14 | 2019-08-14 | Puncture force detection sensor |
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| Publication Number | Publication Date |
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| CN110368098A CN110368098A (en) | 2019-10-25 |
| CN110368098B true CN110368098B (en) | 2021-09-07 |
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| CN201910750261.8A Active CN110368098B (en) | 2019-08-14 | 2019-08-14 | Puncture force detection sensor |
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Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4573362A (en) * | 1984-07-09 | 1986-03-04 | Eaton Corporation | Multi-axis load transducer |
| US20110143310A1 (en) * | 2009-12-15 | 2011-06-16 | Hunter Ian W | Lorentz-Force Actuated Cleaning Device |
| CN102716026B (en) * | 2012-06-01 | 2014-02-26 | 西北工业大学 | Acupuncture needle capable of measuring six-component micro-force of traditional Chinese medicine acupuncture manipulation |
| CN104048791B (en) * | 2014-06-24 | 2016-01-13 | 东南大学 | A kind of diesis beam type six-dimensional force of low retinoic acid syndrome and torque sensor |
| CN108120543A (en) * | 2016-11-30 | 2018-06-05 | 北京航天计量测试技术研究所 | A kind of device for reducing three-dimensional force sensor all directions and intercoupling |
| CN107044898B (en) * | 2017-03-28 | 2022-11-29 | 东南大学 | Six-dimensional force sensor with elastomer structure |
| CN107782482A (en) * | 2017-11-17 | 2018-03-09 | 中国科学院宁波材料技术与工程研究所 | Multiple dimension force/moment sensor |
| CN108981983A (en) * | 2018-06-28 | 2018-12-11 | 武汉科技大学 | Tire-road three-dimensional force measuring sensors |
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