CN112932617A - Touch medium for precise control and clamping device for narrow cavity channel using same - Google Patents
Touch medium for precise control and clamping device for narrow cavity channel using same Download PDFInfo
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- CN112932617A CN112932617A CN202110254721.5A CN202110254721A CN112932617A CN 112932617 A CN112932617 A CN 112932617A CN 202110254721 A CN202110254721 A CN 202110254721A CN 112932617 A CN112932617 A CN 112932617A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
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Abstract
A touch medium for precise control and a clamping device for a narrow cavity channel using the touch medium comprise the following raw materials in parts by weight: paraffin oil: 60-70 parts; silicone oil: 20-30 parts of a solvent; polyoxyethylene alkylphenol ethers: 3-5 parts; oleic acid glyceride: 5-15 parts. The sense of this application adoption feels the medium, and its mobility is very good, consequently can its postpone nature of greatly reduced, and some is its compressive resistance's ability stronger in addition, can carry out zero postpone nature's pressure transmission basically to it is specific to compare in the better conduction of ordinary hydraulic oil, is favorable to using under the occasion that this application needs to carry out accurate control more.
Description
Technical Field
The present invention relates to a tactile medium for precise control and a holder for a narrow lumen using the same.
Background
The minimally invasive surgical instrument overcomes the defects of the traditional minimally invasive surgery in various aspects of observation, delightful operation, flexibility and the like, and is widely applied to assisting doctors in performing surgical operations. However, the existing minimally invasive surgical instruments still lack force feedback function, and cannot feed back the contact force between the instruments and the tissues of the patient to a doctor. The physician is thus unable to identify tissue properties or lesions by tissue touch, and it becomes very difficult for the physician to apply precise forces while performing some delicate procedures. Therefore, the force detection technology in the minimally invasive surgery environment becomes a hot spot and a frontier for the research of minimally invasive surgical instruments. At present, the research on the mechanical force detection of the minimally invasive surgery has the problems of low range and precision, poor compatibility with instruments and the like, and further improvement of the quality and efficiency of the minimally invasive surgery assisted by the minimally invasive surgery instruments is limited. There is a need for a surgical instrument with force perception to replace the general surgical instrument and improve the quality and efficiency of minimally invasive surgery assisted by the minimally invasive surgical instrument. At present, besides the mechanical problem, the pressure transmission medium, namely the touch medium, has the problems of untimely pressure transmission, even delay and the like.
Disclosure of Invention
In order to solve the above problems, the present application discloses a touch medium for precise control, which comprises the following raw materials in parts by mass: paraffin oil: 60-70 parts; silicone oil: 20-30 parts of a solvent; polyoxyethylene alkylphenol ethers: 3-5 parts; oleic acid glyceride: 5-15 parts. The sense of this application adoption feels the medium, and its mobility is very good, consequently can its postpone nature of greatly reduced, and some is its compressive resistance's ability stronger in addition, can carry out zero postpone nature's pressure transmission basically to it is specific to compare in the better conduction of ordinary hydraulic oil, is favorable to using under the occasion that this application needs to carry out accurate control more.
Preferably, the mass fraction of the hydrocarbons with the C number of more than 23 in the paraffin oil is not less than 80 wt%.
Preferably, the silicone oil is epoxy modified silicone oil.
On the other hand, the application discloses a clamping device for a narrow cavity, which comprises a power part, wherein a clamping mechanism is arranged at the end part of the power part, the clamping mechanism comprises a plurality of cooperatively arranged binding clips, each binding clip comprises a clamp clamping surface arranged on the inner side and a clamp supporting surface arranged on the outer side, a pressure sensor is arranged between the clamp clamping surface and the clamp supporting surface, one side of each binding clip, which is close to the power part, is provided with a feedback damping mechanism, the feedback damping mechanisms are cooperatively arranged with the binding clips, and the feedback damping mechanisms are used for receiving signals of the pressure sensors and then changing the movement damping of the binding clips; the power part comprises a stretching power rod, a hinged transmission mechanism is arranged at the end part of the stretching power rod, and the binding clip is arranged on the hinged transmission mechanism. This application can be when playing the impression pressure sensor signal through setting up feedback damping mechanism, the motion trend of timely change binding clip to when its rate of motion, especially need in time stop motion need be changed in the needs, have good negative feedback effect, thereby better avoid because the adverse effect that non-timely feedback brought in the operation process.
Preferably, articulated drive mechanism is equipped with the L hinge bar respectively at the both ends of vertical pole including establishing the vertical pole at tensile power rod tip, the L hinge bar includes the free pole that is close to tensile power rod and the dead lever of keeping away from tensile power rod, and the dead lever of two L hinge bars is articulated to be set up, and the fixed one side of keeping away from vertical pole at the dead lever that sets up of binding clip.
Preferably, the clamp clamping surface comprises a fixed clamping surface, a clamping cavity is arranged at the back of the fixed clamping surface, a plurality of touch media are arranged in the clamping cavity, and the clamping cavity is communicated with the feedback damping mechanism; the clamping cavity comprises a plurality of separation cavities, and the touch medium is arranged in the separation cavities; the separation cavity comprises a plurality of rectangular cavities to form a first separation cavity, the first separation cavity is arranged at intervals to form a second separation cavity, a touch medium is arranged in the first separation cavity, and n-heptane is arranged in the second separation cavity; first minute chamber is formed by a plurality of vertical baffle concatenation settings, vertical baffle includes a plurality of book to the folded plate that sets up, and sealing connection sets up between the adjacent folded plate, is equipped with a conduction valve that is used for two-way constant pressure to switch on between feedback damping mechanism and binding clip, the conduction valve is first threshold value pressure, is the second threshold value pressure at binding clip to the conduction pressure between the feedback damping mechanism at feedback damping mechanism, first threshold value pressure is greater than 1.5 times of second threshold value pressure. The change of the moving damping does not completely depend on the transmission control of electric signals or other signals needing to be processed, but is directly transmitted through the touch medium, and the delayed signals are substantially processed in an absolute mode, so that the timeliness of the control is greatly improved.
Preferably, the folded plate includes the folded plate body, is provided with the soft strip of connection on the folded plate body, be equipped with on the folded plate body with connect the holding tank that the cooperation of soft strip set up.
Preferably, the fixed clamping surface is a flexible surface provided with a pressure sensor on the back surface, a plurality of reciprocating push rods are arranged on the fixed clamping surface, the end parts of the reciprocating push rods are provided with reciprocating connecting blocks, and the reciprocating connecting blocks are matched with the first sub-cavities.
Preferably, an annular pressure plate is arranged on the reciprocating push rod and fixedly connected with the vertical baffle of the first sub-cavity.
Preferably, the feedback damping mechanism comprises an elastic bolt arranged between the fixing rods, the feedback damping mechanism is arranged in the elastic bolt, the feedback damping mechanism comprises a touch medium storage bin which is arranged in the elastic bolt and provided with a flexible shell, and the touch medium storage bin is communicated with the clamping cavity; the elastic bolt is internally provided with an elastic cavity for placing a touch medium storage bin, the elastic cavity is provided with a plurality of elastic gaps, and the elastic gaps are provided with elastic friction rubber.
This application can bring following beneficial effect:
1. the touch medium adopted by the application has very good fluidity, so that the delay performance of the touch medium can be greatly reduced, and the other point is that the compression resistance of the touch medium is stronger, and zero-delay pressure transmission can be basically carried out, so that the touch medium has better conduction specificity compared with common hydraulic oil and is more favorable for being used in occasions needing precise control;
2. by arranging the feedback damping mechanism, the movement trend of the forceps head can be changed in time while the signals of the pressure sensor are sensed, so that the forceps head has a good negative feedback effect when the movement speed of the forceps head needs to be changed, particularly when the forceps head needs to stop moving in time, and adverse effects caused by non-timely feedback in the operation process are better avoided;
3. the change of the moving damping does not completely depend on the transmission control of electric signals or other signals needing to be processed, but is directly transmitted through the touch medium, and the delayed signals are substantially processed in an absolute mode, so that the timeliness of the control is greatly improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic structural diagram of the present application;
FIG. 2 is a schematic diagram of the principles of the present application;
FIG. 3 is a schematic view of a feedback damping mechanism of the present application;
FIG. 4 is a schematic view of the structure of a vertical baffle;
fig. 5 is a schematic structural view of the elastic bolt.
Detailed Description
In order to clearly explain the technical features of the present invention, the present application will be explained in detail by the following embodiments in combination with the accompanying drawings.
In a first embodiment, as shown in fig. 1 to 5, a clamping device for a narrow lumen comprises a power portion, a clamping mechanism is arranged at an end of the power portion, the clamping mechanism comprises a plurality of cooperatively arranged binding clip 1, the binding clip 1 comprises a clamp clamping surface 2 arranged on an inner side and a clamp supporting surface 3 arranged on an outer side, a pressure sensor 4 is arranged between the clamp clamping surface 2 and the clamp supporting surface 3, a feedback damping mechanism 5 is arranged on one side of the binding clip 1 close to the power portion, the feedback damping mechanism 5 is cooperatively arranged with each binding clip 1, and the feedback damping mechanism 5 is used for receiving a signal of the pressure sensor 4 and then changing the movement damping of the binding clip 1. The power part comprises a stretching power rod 6, a hinge transmission mechanism 7 is arranged at the end part of the stretching power rod 6, and the binding clip 1 is arranged on the hinge transmission mechanism 7. Articulated drive mechanism 7 is equipped with the L hinge bar respectively at the both ends of vertical pole 8 including establishing the vertical pole 8 at tensile power bar 6 tip, the L hinge bar includes the free pole 9 that is close to tensile power bar 6 and keeps away from the dead lever 10 of tensile power bar 6, and the dead lever 10 of two L hinge bars is articulated to be set up, and binding clip 1 is fixed to be set up in the dead lever 10 one side of keeping away from vertical pole 8. The clamp clamping face 2 comprises a fixed clamping face, a clamping cavity 12 is arranged at the back of the fixed clamping face, a plurality of touch media are arranged in the clamping cavity 12, the clamping cavity 12 is communicated with the feedback damping mechanism 5, a conduction valve 13 for conducting in a two-way constant pressure mode is arranged between the feedback damping mechanism 5 and the clamp head 1, the conduction pressure of the conduction valve 13 between the feedback damping mechanism 5 and the clamp head 1 is a first threshold pressure, the conduction pressure between the clamp head 1 and the feedback damping mechanism 5 is a second threshold pressure, and the first threshold pressure is larger than 1.5 times of the second threshold pressure. The clamping cavity 12 comprises a plurality of separation cavities, and the touch medium is arranged in the separation cavities. The separating cavity comprises a plurality of rectangular cavities to form a first separating cavity 15, and the first separating cavity 15 is arranged at intervals to form a second separating cavity 16; first chamber 15 is formed by a plurality of vertical baffle 17 concatenation settings, vertical baffle 17 includes a plurality of folds to the folded plate that sets up, and sealing connection sets up between the adjacent folded plate, is equipped with in first chamber and feels the medium, is equipped with normal heptane in the second chamber. The folded plate comprises a folded plate body 18, a connecting soft strip 19 is arranged on the folded plate body 18, and a containing groove matched with the connecting soft strip 19 is formed in the folded plate body 18. The fixed clamping surface is a flexible surface with a pressure sensor 4 arranged on the back surface, a plurality of reciprocating push rods 20 are arranged on the fixed clamping surface, the end parts of the reciprocating push rods 20 are provided with reciprocating connecting blocks 21, and the reciprocating connecting blocks 21 are matched with the first sub-cavities 15. An annular pressing plate 22 is arranged on the reciprocating push rod 20, and the annular pressing plate 22 is fixedly connected with the vertical baffle 17 of the first sub-cavity 15. The feedback damping mechanism 5 comprises an elastic bolt 23 arranged between fixed rods, the feedback damping mechanism 5 is arranged in the elastic bolt 23, the feedback damping mechanism 5 comprises a touch medium storage bin 24 which is arranged in the elastic bolt 23 and is provided with a flexible shell, and the touch medium storage bin 24 is communicated with the clamping cavity 12; an elastic cavity 25 for placing a touch medium storage bin 24 is arranged in the elastic bolt 23, a plurality of elastic notches 26 are formed in the elastic cavity 25, and elastic friction rubber 27 is arranged on the elastic notches 26; the sensing medium is hydraulic oil.
During the use, arrange the operation position in binding clip 1 of this application, then drive binding clip 1 through power portion and carry out the clamping operation, in the clamping operation in-process, if exceed first threshold pressure, make the sense medium that feels flow into feedback damping device's sense medium storage storehouse, then physically slow down power portion and provide power, slow down binding clip 1's operation, also have the pressure that pressure sensor 4 felt this moment, the condition through observation or other parameters decides to continue to operate, still stop the operation, but objective speed of binding clip 1 slows down or even stops objectively and timely, avoid the maloperation under the unexpected condition as far as possible.
For different touch media, the same clamping device is used in the application, the reaction time of stopping clamping after meeting the specified pressure is measured, and in the process, the pressure sensor 4 also sends out a signal of stopping movement. Specific measurement results are shown in table 1.
Table 1:
the above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A tactile medium for precision control, comprising: the composite material comprises the following raw materials in parts by weight: paraffin oil: 60-70 parts; silicone oil: 20-30 parts of a solvent; polyoxyethylene alkylphenol ethers: 3-5 parts; oleic acid glyceride: 5-15 parts.
2. A tactile medium for precision control according to claim 1, wherein: the mass fraction of the hydrocarbons with the C number of more than 23 in the paraffin oil is not less than 80 wt%.
3. A tactile medium for precision control according to claim 1, wherein: the silicone oil is epoxy modified silicone oil.
4. A narrow lumen holding instrument using the tactile medium according to any one of claims 1 to 3, characterized in that: the clamp comprises a power part, a clamping mechanism is arranged at the end part of the power part, the clamping mechanism comprises a plurality of clamp heads which are arranged in a matched manner, each clamp head comprises a clamp clamping surface arranged on the inner side and a clamp supporting surface arranged on the outer side, a pressure sensor is arranged between the clamp clamping surface and the clamp supporting surface, a feedback damping mechanism is arranged on one side of each clamp head close to the power part, the feedback damping mechanisms are arranged in a matched manner with the clamp heads, and are used for receiving signals of the pressure sensors and then changing the movement damping of the clamp heads; the power part comprises a stretching power rod, a hinged transmission mechanism is arranged at the end part of the stretching power rod, and the binding clip is arranged on the hinged transmission mechanism.
5. The narrow lumen holding instrument as set forth in claim 4, wherein: articulated drive mechanism is equipped with L articulated arm respectively at the both ends of vertical pole including establishing the vertical pole at tensile power rod tip, L articulated arm includes the free pole that is close to tensile power rod and the dead lever of keeping away from tensile power rod, and the dead lever of two L articulated arms is articulated to be set up, and the fixed one side of keeping away from vertical pole at the dead lever that sets up of binding clip.
6. The narrow lumen holding instrument as set forth in claim 4, wherein: the clamp clamping surface comprises a fixed clamping surface, a clamping cavity is arranged at the back of the fixed clamping surface, a plurality of touch media are arranged in the clamping cavity, and the clamping cavity is communicated with the feedback damping mechanism; the clamping cavity comprises a plurality of separation cavities, and the touch medium is arranged in the separation cavities; the separation cavity comprises a plurality of rectangular cavities to form a first separation cavity, the first separation cavity is arranged at intervals to form a second separation cavity, a touch medium is arranged in the first separation cavity, and n-heptane is arranged in the second separation cavity; first minute chamber is formed by a plurality of vertical baffle concatenation settings, vertical baffle includes a plurality of book to the folded plate that sets up, and sealing connection sets up between the adjacent folded plate, is equipped with a conduction valve that is used for two-way constant pressure to switch on between feedback damping mechanism and binding clip, the conduction valve is first threshold value pressure, is the second threshold value pressure at binding clip to the conduction pressure between the feedback damping mechanism at feedback damping mechanism, first threshold value pressure is greater than 1.5 times of second threshold value pressure.
7. The narrow lumen holding instrument as set forth in claim 6, wherein: the folded plate comprises a folded plate body, a connecting soft strip is arranged on the folded plate body, and a containing groove matched with the connecting soft strip is formed in the folded plate body.
8. The narrow lumen holding instrument as set forth in claim 6, wherein: the fixed clamping face is a flexible face with a pressure sensor arranged on the back face, a plurality of reciprocating push rods are arranged on the fixed clamping face, reciprocating connecting blocks are arranged at the end portions of the reciprocating push rods, and the reciprocating connecting blocks are matched with the first sub-cavities.
9. The narrow lumen holding instrument as set forth in claim 8, wherein: and an annular pressing plate is arranged on the reciprocating push rod and fixedly connected with the vertical baffle plate of the first sub-cavity.
10. The narrow lumen holding instrument as set forth in claim 6, wherein: the feedback damping mechanism comprises an elastic bolt arranged between the fixed rods, the feedback damping mechanism is arranged in the elastic bolt, the feedback damping mechanism comprises a touch medium storage bin which is arranged in the elastic bolt and provided with a flexible shell, and the touch medium storage bin is communicated with the clamping cavity; the elastic bolt is internally provided with an elastic cavity for placing a touch medium storage bin, the elastic cavity is provided with a plurality of elastic gaps, and the elastic gaps are provided with elastic friction rubber.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110254721.5A CN112932617B (en) | 2021-03-09 | 2021-03-09 | Touch medium for precise control and clamping device for narrow cavity channel using same |
| PCT/CN2022/071640 WO2022188543A1 (en) | 2021-03-09 | 2022-01-12 | Tactile medium for precise control and clamping device for narrow cavity using tactile medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110254721.5A CN112932617B (en) | 2021-03-09 | 2021-03-09 | Touch medium for precise control and clamping device for narrow cavity channel using same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112932617A true CN112932617A (en) | 2021-06-11 |
| CN112932617B CN112932617B (en) | 2022-06-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110254721.5A Active CN112932617B (en) | 2021-03-09 | 2021-03-09 | Touch medium for precise control and clamping device for narrow cavity channel using same |
Country Status (2)
| Country | Link |
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| CN (1) | CN112932617B (en) |
| WO (1) | WO2022188543A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022188543A1 (en) * | 2021-03-09 | 2022-09-15 | 孙殿珉 | Tactile medium for precise control and clamping device for narrow cavity using tactile medium |
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2021
- 2021-03-09 CN CN202110254721.5A patent/CN112932617B/en active Active
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2022
- 2022-01-12 WO PCT/CN2022/071640 patent/WO2022188543A1/en unknown
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| EP1138444A1 (en) * | 2000-03-25 | 2001-10-04 | Michael Dr. Kretzschmar | Pressurised fluid driven pliers |
| CN107693121A (en) * | 2011-10-21 | 2018-02-16 | 直观外科手术操作公司 | Grasping force control for robotic surgical instrument end effector |
| CN102562460A (en) * | 2011-12-29 | 2012-07-11 | 燕山大学 | Undamped hydraulic yaw system based on pressure detection and control method of undamped hydraulic yaw system |
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| WO2022188543A1 (en) * | 2021-03-09 | 2022-09-15 | 孙殿珉 | Tactile medium for precise control and clamping device for narrow cavity using tactile medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112932617B (en) | 2022-06-07 |
| WO2022188543A1 (en) | 2022-09-15 |
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