CN114674482A - Multidimensional force detection device for puncture surgery - Google Patents
Multidimensional force detection device for puncture surgery Download PDFInfo
- Publication number
- CN114674482A CN114674482A CN202210304232.0A CN202210304232A CN114674482A CN 114674482 A CN114674482 A CN 114674482A CN 202210304232 A CN202210304232 A CN 202210304232A CN 114674482 A CN114674482 A CN 114674482A
- Authority
- CN
- China
- Prior art keywords
- puncture
- cylinder
- axis
- strain gauges
- diaphragm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
- G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
- G01L5/1627—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of strain gauges
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Surgical Instruments (AREA)
Abstract
The invention discloses a multidimensional force detection device for puncture surgery, which is formed by fixedly connecting a multidimensional force sensor, a developing injector and an interventional puncture outfit; the multidimensional force sensor is characterized in that a strain gauge is arranged on an elastic body to form a detection device, a developing injector is communicated with a developer storage cylinder at the outer part of a flange cylinder along the radial direction, the developer in the developer storage cylinder injected by a push rod can be injected into a puncture needle in an interventional puncture device through an inner cavity channel of the flange cylinder, and the development is carried out near a puncture point in the body tissue of a punctured object. The invention obtains the multidimensional mechanical information of the puncture needle in the tissue through detection, can display the needle point position of the puncture needle in the tissue in real time, assists a surgeon in implementing the accurate planning of a puncture path with high-precision and high-resolution detection performance, and promotes the intellectualization and the automation of the puncture operation.
Description
Technical Field
The invention belongs to the technical field of medical automation equipment, and particularly relates to a multi-dimensional force detection device for a puncture operation.
Background
In the conventional puncture interventional operation process, the puncture instrument deviates from a planned path due to human actions of an operator, deformation of patient tissues and other factors, and the instrument needs to be sent to a target point through repeated needle insertion and diagnosis under the guidance of an image monitoring device, and the problems existing in the conventional mode include: the operation process depends on the operation experience of the operator to a great extent, and the operation fatigue of the operator is more serious due to high working strength, so that the operation effect is influenced; the deviation of the puncture instrument causes unnecessary damage to the tissues around the instrument; the positioning accuracy directly related to the effect of the puncture interventional operation is difficult to ensure.
Patent document No. CN112932627A discloses a puncture device and method based on ultrasound guidance, which includes a puncture needle module, a puncture area sensor, and a processor, wherein the puncture area sensor is connected with the processor, the puncture needle module includes an optical fiber vibration sensor capable of measuring vibration, and is used for solving accurate position data of human tissue reacting to the puncture needle in the puncture process, and improving the success rate of placing a tube under ultrasound guidance; however, the device judges whether the puncture needle successfully enters the blood vessel by monitoring the vibration condition of the puncture needle through the optical fiber sensor, the three-dimensional mechanical information of the puncture needle in the tissue cannot be obtained, the accurate force feedback control cannot be realized, and the path planning result of the puncture needle is influenced.
Patent document No. CN112690880A discloses a puncture positioning device for cardiology department, which adjusts and fixes the position of a puncture needle by arranging a frame and a puncture positioning frame, and knows the length of the puncture needle inserted into a patient by arranging a pull sensor, so that a doctor can know the puncture condition in real time; however, the structure of the rotating frame and the puncture positioning frame is complex, and the height and the position of the puncture needle can be adjusted and fixed only by repeatedly and manually rotating the multilayer threaded rods on the frame and the puncture positioning frame, which is not beneficial to improving the efficiency of puncture path planning and operation by cooperating with doctors, and the flexible transmission structure of the pull sensor can not accurately feed back the three-dimensional mechanical information of the puncture needle in the tissue.
Patent document No. CN112472918A discloses a venous transfusion anti-infiltration device for medical transfusion room nursing, which comprises a buffer tube and a puncture needle integrally connected to one side of the buffer tube, wherein the other side of the buffer tube is integrally connected to an adjusting tube, a pressure sensor is fixed in the tube, and whether the device is inserted into a blood vessel is judged by external monitoring equipment to avoid infiltration; however, the device monitors the stress condition of the puncture needle in the blood vessel through the pressure sensor, obtains single-dimensional mechanical information, can not realize accurate force feedback control, and can not ensure the accuracy and the resolution of the measured puncture force.
Disclosure of Invention
The invention aims to avoid the defects of the prior art and provides the multi-dimensional force detection device for the puncture operation, which obtains the multi-dimensional mechanical information of the puncture needle in the tissue through detection, can display the needle point position of the puncture needle in the tissue in real time, assists a surgeon in implementing accurate planning of a puncture path with high-precision and high-resolution detection performance and promotes the intellectualization and automation of the puncture operation.
The invention adopts the following technical scheme for solving the technical problems:
the multidimensional force detection device for puncture surgery of the invention is characterized in that: the multidimensional force detection device is formed by fixedly connecting a multidimensional force sensor, a developing injector and an interventional puncture device end to end in sequence along a central axis A;
the multi-dimensional force sensor takes a flange base as a support, an elastic body is supported on the flange base, and a force transmission cover and the flange base clamp and fix the elastic body left and right; the flange base is used as a connecting interface of the detection device and an external medical mechanical arm; the force transmission cover is used as a stress transmission component in the puncture process; arranging each strain gauge on the elastic body to form a detection device;
the developing injector is characterized in that a flange cylinder is connected between an intervention puncture outfit and a force transmission cover of a multidimensional force sensor, a developer storage cylinder is communicated with the outside of the flange cylinder along the radial direction, a push rod is arranged in the developer storage cylinder, and developer in the developer storage cylinder injected by the push rod can be injected into a puncture needle through an inner cavity channel of the flange cylinder to carry out development near a puncture point in body tissue of a punctured object;
the interventional puncture outfit is characterized in that a puncture needle with a needle core hole is clamped in a puncture needle clamping piece to be fixed; the puncture needle clamping piece is formed by fixedly connecting a clamping block, a needle sheath reinforcing cylinder and a needle core reinforcing plate end to end along a central axis A in sequence, and the clamping block is connected with the end face of the flange cylinder.
The multidimensional force detection device for puncture surgery of the invention is also characterized in that: the elastic body is of a double-diaphragm structure, and the double-diaphragm structure is formed by connecting a front diaphragm and a rear diaphragm which are positioned at axially spaced positions into a whole through a central force transmission cylinder; arranging a strain gauge on the front diaphragm to obtain three-dimensional moment information; a strain gauge is provided on the rear diaphragm to obtain three-dimensional force information.
The multidimensional force detection device for puncture surgery of the invention is also characterized in that: different strain gauges are arranged on the front diaphragm and the rear diaphragm, and the strain gauges are respectively as follows: and arranging a semiconductor strain gauge on the front diaphragm for obtaining three-dimensional moment information, and arranging a metal strain gauge on the rear diaphragm for obtaining three-dimensional force information.
The multidimensional force detection device for puncture surgery of the invention is also characterized in that:
the front diaphragm and the rear diaphragm are E-shaped diaphragms, and the E-shaped front diaphragm and the E-shaped rear diaphragm are arranged back to back;
the E-shaped diaphragm is provided with a diaphragm inner cylinder, a diaphragm outer cylinder and a diaphragm annular plane connected between the diaphragm inner cylinder and the diaphragm outer cylinder;
the inner cylinders of the front diaphragm and the rear diaphragm and the central force transmission cylinder are formed into an integral structure.
The multidimensional force detection device for puncture surgery of the invention is also characterized in that:
the semiconductor strain gauges arranged on the front film are respectively 4X-axis semiconductor strain gauges A5, A6, A7 and A8, 4Y-axis semiconductor strain gauges A1, A2, A3 and A4 and 4Z-axis semiconductor strain gauges A9, A10, A11 and A12, and the semiconductor strain gauges are distributed in the following forms:
the X-axis semiconductor strain gauges A6 and A7 and the Y-axis semiconductor strain gauges A2 and A3 are distributed in a cross shape on the annular plane of the membrane and are attached to one side of the membrane inner cylinder;
the X-axis semiconductor strain gauges A5 and A8 and the Y-axis semiconductor strain gauges A1 and A4 are distributed on the annular plane of the film in a cross manner and are attached to one side of the film outer cylinder;
the Z-axis semiconductor strain gauges A9, A10, A11 and A12 are attached to the inner side wall of the film outer cylinder;
a full-bridge detection circuit c1 is formed by Y-axis semiconductor strain gauges A1, A2, A3 and A4 to obtain a moment My;
an X-axis semiconductor strain gauge A5, an X-axis semiconductor strain gauge A6, an X-axis semiconductor strain gauge A7 and an X-axis semiconductor strain gauge A8 form a full-bridge detection circuit c2, and a moment Mx is obtained;
the Z-axis semiconductor strain gauges A9, A10, A11 and A12 form a full-bridge detection circuit c3, and the torque Mz is obtained.
The multidimensional force detection device for puncture surgery of the invention is also characterized in that:
the metal strain gages arranged on the rear diaphragm are respectively 4X-axis metal strain gages B1, B2, B3 and B4, 4Y-axis metal strain gages B5, B6, B7 and B8 and 4Z-axis metal strain gages B9, B10, B11 and B12, and the metal strain gages are distributed in the following mode:
x-axis metal strain gauges B2 and B3 and Y-axis metal strain gauges B6 and B7 are distributed on the annular plane of the membrane in a cross manner and are attached to one side of the membrane inner cylinder;
x-axis metal strain gauges B1 and B4 and Y-axis metal strain gauges B5 and B8 are distributed on the annular plane of the membrane in a cross manner and are attached to one side of the outer membrane cylinder;
the Z-axis semiconductor strain gauges B9, B10, B11 and B12 are positioned on a straight line L together, and the straight line L forms an included angle of 45 degrees with the X axis; the Z-axis semiconductor strain gauges B10 and B11 are attached to one side of the film inner cylinder, and the Z-axis semiconductor strain gauges B9 and B12 are attached to one side of the film outer cylinder;
a Y-axis metal strain gauge B5, B6, B7 and B8 form a full-bridge detection circuit c4 to obtain force Fy;
an X-axis metal strain gauge B1, B2, B3 and B4 form a full-bridge detection circuit c5 to obtain force Fx;
a full-bridge detection circuit c6 is formed by the Z-axis metal strain gauges B9, B10, B11 and B12, and the force Fz is obtained.
The multidimensional force detection device for puncture surgery of the invention is also characterized in that: the flange cylinder, the developer storage cylinder and the push rod in the developing injector are all cylindrical, the cylindrical outer surface of the push rod is nested on the cylindrical inner surface of the developer storage cylinder, and the flange cylinder, the developer storage cylinder and the push rod are in coaxial linear sliding fit; a plane P is milled on the cylindrical outline of the flange cylinder, and one side end face of the developer storage cylinder is fixedly arranged on the plane P; a section of axial hole h is arranged on the central axis of the flange cylinder and towards one side of the puncture needle1A section of radial hole h is arranged along the radial direction of the flange cylinder2Making the radial hole h2And axial hole h1A section of conduit is fixedly connected with the front end of the developer storage cylinder and is embedded in the radial hole h of the flange cylinder2In the middle, the inner cavity of the contrast agent storage cylinder passes through a conduit and an axial hole h1Is communicated with the puncture needle.
The multidimensional force detection device for puncture surgery of the invention is also characterized in that:
a clamping block in the puncture needle clamping piece is locked at the head of the puncture needle in a two-half manner, and the clamping block is fixedly connected with the end face of the needle sheath reinforcing cylinder;
the needle core reinforcing plate is in two halves and embraces the waist part of the puncture needle, and the end surface is propped against the neck part of the puncture needle;
the back half section of the needle sheath reinforcing cylinder is fixedly sleeved on the neck of the puncture needle, the front half section of the needle sheath reinforcing cylinder is fixedly sleeved on the tail part of the needle core reinforcing plate, and the back half section and the front half section are respectively fixed by screws uniformly distributed along the circumference.
The multidimensional force detection device for puncture surgery of the invention is also characterized in that: the axial coupling total length of the clamping block, the needle sheath reinforcing cylinder and the needle core reinforcing plate is 1/2-2/3 of the length of the puncture needle.
The multidimensional force detection device for puncture surgery of the invention is also characterized in that: in the multi-dimensional force sensor: the flange base is a disc-shaped base with a limiting boss; the force transmission cover is a circular cover plate with a built-in circuit board.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention integrates multi-dimensional force detection and development, can obtain multi-dimensional mechanical information of the puncture needle in the tissue through detection, can display the needle point position of the puncture needle in the tissue in real time, assists a surgeon to implement accurate planning of a puncture path, and promotes intellectualization and automation of puncture operation;
2. the invention has simple and compact structure, high integration level and easy manufacture, and is beneficial to popularization and promotion in the field of medical automation;
3. the invention is provided with a double-diaphragm structure, and three-dimensional moment information and three-dimensional force information detection are realized by utilizing the double-diaphragm structure;
4. according to the invention, the semiconductor strain gauge and the metal strain gauge are respectively arranged in the double-diaphragm structure, so that the performance advantages of high sensitivity and high resolution of the semiconductor strain gauge on signal measurement and high linearity and high stability of the metal strain gauge on signal measurement are obtained, the semiconductor strain gauge and the metal strain gauge mutually make up for each other, the requirements of high precision and high stability of the mechanical feedback signal measurement of the tail end of the puncture needle in medical automatic puncture surgery can be met, and the success rate and the reliability of the puncture surgery are improved;
5. the invention acquires the accurate positions of the puncture needle and the puncture point by imaging near the puncture point in the body tissue of the punctured object, so that a virtual navigation puncture route of the puncture needle is planned according to the puncture point position fed back by medical images, and the real-time three-dimensional puncture force signal and the three-dimensional puncture torque signal measured by the multi-dimensional force sensor are combined, so that the method can be used for a tail end motion control system of a medical mechanical arm, and the guidance of the optimal planned path of the puncture operation is realized;
6. the puncture needle can adopt different series of models and specifications, corresponds to the puncture needles with different needle body lengths and needle core thicknesses, and can adapt to puncture operations of various parts of human tissues; the puncture needle made of the stainless steel material can be applied to puncture surgery occasions guided by CT or ultrasonic medical imaging equipment, the puncture needle made of the titanium alloy non-magnetic material can be applied to puncture surgery occasions guided by nuclear magnetic resonance medical imaging equipment, and the universality and the replaceability are good.
Drawings
FIG. 1 is a schematic view of the external configuration of the present invention;
FIGS. 2a and 2b are schematic front and side views of the internal structure of the present invention;
FIG. 3 is an exploded view of the multi-dimensional force sensor of the present invention;
4a, 4b and 4c are schematic front, side and rear views of the elastic body of the present invention;
FIG. 5 is a schematic diagram of six sets of full-bridge detection circuits of the multi-dimensional force sensor of the present invention;
FIG. 6 is a diagram illustrating the stress state of the present invention in performing multi-dimensional mechanical information detection within a tissue;
FIG. 7 is a schematic view of an exemplary application of the present invention in a lancing procedure; FIG. 7a is an enlarged view of a portion of FIG. 7;
fig. 8 is a block diagram of a multi-dimensional force information signal processing circuit applied to a puncture operation according to the present invention.
Reference numbers in the figures: the puncture needle comprises a multi-dimensional force sensor 1, a developing injector 2, an interventional puncture device 3, a medical mechanical arm 4, a punctured object 5, a flange base 11, an elastic body 12, a force transmission cover 13, a flange cylinder 21, a developer 22, a developer storage cylinder 23, a push rod 24, a clamping block 31, a needle sheath reinforcing cylinder 32, a needle core reinforcing plate 33, a puncture needle 34, a membrane before 121, a membrane after 122 and a force transmission cylinder 123.
Detailed Description
Referring to fig. 1, the multi-dimensional force detection device for puncture surgery in the present embodiment is formed by sequentially fixedly connecting a multi-dimensional force sensor 1, a developing injector 2 and an interventional puncture outfit 3 end to end along a central axis a.
Wherein, the multidimensional force sensor 1 is a direct sensitive component used for measuring six-dimensional puncture force information in the puncture surgery; the developing injector 2 is used as a transmission medium for the developer to enter the punctured tissue on one hand, and is also a mechanical information transmission device between the multidimensional force sensor 1 and the interventional puncture device 3 on the other hand; the interventional puncture outfit 3 has the tail end directly contacted with the surface of the punctured object when executing the puncture operation task, and belongs to the tail end actuator of the multidimensional force detection device; the central axes of the multidimensional force sensor 1, the developing injector 2 and the interventional puncture outfit 3 are superposed with each other, and the multidimensional force sensor, the developing injector 2 and the interventional puncture outfit together form a set of multidimensional puncture force detection device.
Referring to fig. 2a and 2b, the multidimensional force sensor 1 uses a flange base 11 as a support, an elastic body 12 is supported on the flange base 11, a force transmission cover 13 and the flange base 11 clamp and fix the elastic body 12 left and right, the flange base 11 is used as a connection interface of a detection device and an external medical mechanical arm, the force transmission cover 13 is used as a stress transmission component in a puncture process, in the multidimensional force sensor 1 shown in fig. 3, the flange base 11 is a disc-shaped base with a limit boss, and the force transmission cover 13 is a circular cover plate with a built-in circuit board; each strain gauge is arranged on the elastic body 12 to form a detection device, and the structural form can ensure the compact size and space of the sensor and the reliability of mechanical information transmission; the developing injector 2 provides support for the developing and positioning functions of the puncture operation, a flange cylinder 21 is connected between the interventional puncture device 3 and a force transmission cover 13 of the multidimensional force sensor 1, a developer storage cylinder 23 is communicated with the outside of the flange cylinder 21 along the radial direction, a push rod 24 is arranged in the developer storage cylinder 23, the developer in the developer storage cylinder 23 injected by the push rod 24 can be injected into a puncture needle 34 through an inner cavity channel of the flange cylinder 21, and the development is carried out near a puncture point in the body tissue of a punctured object; the interventional puncture instrument 3 is fixed by holding a puncture needle 34 having a core hole in a puncture needle holder; the puncture needle clamping piece is formed by fixedly connecting a clamping block 31, a needle sheath reinforcing cylinder 32 and a needle core reinforcing plate 33 end to end in sequence along a central axis A, and the clamping block 31 is connected with the end face of the flange cylinder 21. The interventional puncture device 3 enters the body tissue of the punctured object through the puncture needle 34 with reinforced strength and rigidity, and in the implementation process of the puncture operation, on one hand, six-dimensional puncture force is generated between the tail end of the puncture needle 34 and the environment tissue of the punctured object and is transmitted to the elastic body 12 of the multi-dimensional force sensor 1 through the interventional puncture device 3 and the developing injector 2 in sequence, so that the size and the direction of the puncture force are sensed and measured; on the other hand, the developer 22 is injected into the body tissue of the object to be punctured through the development injector 2 and the intervention puncture outfit 3 in sequence near the puncture point 1 to obtain the positions of the puncture needle and the puncture point, so that the virtual navigation puncture route of the puncture needle is planned according to the puncture point position, and the guidance of the puncture surgery planning route is realized.
In specific implementation, the corresponding technical measures further include:
as shown in fig. 4a, 4b and 4c, the elastic body 12 has a double-diaphragm structure, in which a front diaphragm 121 and a rear diaphragm 122 at axially spaced positions are connected together by a central force-transmitting cylinder 123, and the central force-transmitting column 122 has a central through hole for leading; arranging a strain gauge on the front diaphragm 121 to obtain three-dimensional moment information; a strain gage is provided on the rear diaphragm 122 to obtain three-dimensional force information.
Different strain gauges are arranged on the front diaphragm 121 and the rear diaphragm 122, which are respectively: a semiconductor strain gauge is arranged on the front diaphragm 121 to obtain three-dimensional moment information; a metal strain gage is provided on the rear diaphragm 122 for three-dimensional force information.
The front diaphragm 121 and the rear diaphragm 122 are both E-shaped diaphragms, and the E-shaped front diaphragm 121 and the E-shaped rear diaphragm 122 are arranged back to back; the E-shaped diaphragm is provided with a diaphragm inner cylinder, a diaphragm outer cylinder and a diaphragm annular plane connected between the diaphragm inner cylinder and the diaphragm outer cylinder; the inner cylinders of the front diaphragm 121 and the rear diaphragm 122 and the central force transmission cylinder 123 are formed into an integral structure, and the annular planes of the diaphragms in the front diaphragm 121 and the rear diaphragm 122 are parallel to each other.
The semiconductor strain gauges arranged on the front diaphragm 121 are respectively 4X-axis semiconductor strain gauges, 4Y-axis semiconductor strain gauges and 4Z-axis semiconductor strain gauges, and the semiconductor strain gauges are distributed as follows:
the X-axis semiconductor strain gauges A6 and A7 and the Y-axis semiconductor strain gauges A2 and A3 are distributed in a cross shape on the annular plane of the membrane and are attached to one side of the membrane cylinder;
the X-axis semiconductor strain gauges A5 and A8 and the Y-axis semiconductor strain gauges A1 and A4 are distributed in a cross shape on the annular plane of the film and are attached to one side of the film outer cylinder;
the Z-axis semiconductor strain gauges A9, A10, A11 and A12 are attached to the inner side wall of the film outer cylinder, T-shaped metal sheets are arranged at corresponding positions, and the Z-axis semiconductor strain gauges are attached to corresponding positions of the T-shaped metal sheets;
a full-bridge detection circuit c1 is formed by Y-axis semiconductor strain gauges A1, A2, A3 and A4 to obtain a moment My;
an X-axis semiconductor strain gauge A5, an X-axis semiconductor strain gauge A6, an X-axis semiconductor strain gauge A7 and an X-axis semiconductor strain gauge A8 form a full-bridge detection circuit c2, and a moment Mx is obtained;
the Z-axis semiconductor strain gauges a9, a10, a11, and a12 form a full-bridge detection circuit c3, and the torque Mz is obtained.
The semiconductor strain gauge works by utilizing the piezoresistive effect of a semiconductor, has high sensitivity, wide working frequency band, small mechanical hysteresis and high resolution, and is particularly suitable for sensing and measuring three-dimensional puncture torque information. As shown in FIG. 5, a voltage Δ U is output from the full bridge detection circuit c1MyProportional to the magnitude of the moment My acting on the sensor; output voltage DeltaU of full-bridge detection circuit c2MxProportional to the magnitude of the moment Mx acting on the sensor; the output voltage of the full-bridge detection circuit c3 is delta UMzWhich is proportional to the magnitude of the moment Mz acting on the sensor.
The metal strain gauges arranged on the rear diaphragm 122 are respectively 4 pieces of X-axis metal strain gauges, 4 pieces of Y-axis metal strain gauges and 4 pieces of Z-axis metal strain gauges, and the metal strain gauges are distributed in the following form:
x-axis metal strain gauges B2 and B3 and Y-axis metal strain gauges B6 and B7 are distributed on the annular plane of the membrane in a cross manner and are attached to one side of the membrane cylinder;
x-axis metal strain gauges B1 and B4 and Y-axis metal strain gauges B5 and B8 are distributed on the annular plane of the membrane in a cross manner and are attached to one side of the membrane outer cylinder;
the Z-axis semiconductor strain gauges B9, B10, B11 and B12 are positioned on a straight line L together, and the straight line L forms an included angle of 45 degrees with the X axis; the Z-axis semiconductor strain gauges B10 and B11 are attached to one side of the film inner cylinder, and the Z-axis semiconductor strain gauges B9 and B12 are attached to one side of the film outer cylinder;
a Y-axis metal strain gauge B5, B6, B7 and B8 form a full-bridge detection circuit c4 to obtain force Fy;
an X-axis metal strain gauge B1, B2, B3 and B4 form a full-bridge detection circuit c5 to obtain force Fx;
a full-bridge detection circuit c6 is formed by the Z-axis metal strain gauges B9, B10, B11 and B12, and the force Fz is obtained.
The metal strain gauge works by changing resistance by deforming metal through external force, so that output parameters are changed, and the metal strain gauge is large in deformation amount, good in linearity and good in frequency characteristic when working, and is particularly suitable for sensing and measuring three-dimensional puncture force information. The voltage DeltaU is output by the full-bridge detection circuit c4FxProportional to the magnitude of the force Fx acting on the sensor; output voltage delta U of full-bridge detection circuit c5FyProportional to the magnitude of the force Fy acting on the sensor; output voltage delta U of full-bridge detection circuit c6FzWhich is proportional to the magnitude of the force Fz acting on the sensor.
When puncture force or torque is transmitted to the elastic body 12, corresponding parts on the force-sensitive element can be elastically deformed, the strain gauge can be deformed along with the deformation of the force-sensitive element, the resistance value of the strain gauge is changed, so that the output voltages of the six groups of full-bridge detection circuits are changed, and through six-dimensional force calibration and inter-dimensional decoupling processing, a model relation between the voltage change and the force or torque applied to the force-sensitive element can be established, so that the six-dimensional force and torque on the multi-dimensional force sensor 1 can be calculated.
In the process of implementing the automatic puncture operation by the medical mechanical arm, on one hand, the ambient working environment may have temperature change, and the puncture operation guided by medical images such as CT or nuclear magnetic resonance is easily influenced by electromagnetic radiation, and the full-bridge detection circuit formed by the metal strain gauges is adopted to measure the Fx, Fy and Fz three-dimensional force signals, so that the inherent defects of poor temperature stability, large sensitivity dispersion and nonlinear error and the like of the semiconductor strain gauges are overcome, and the high linearity and high stability of signal measurement are met; on the other hand, the mechanical signals of the tail end needle point required to be measured by the automatic puncture surgery have high accuracy and small errors, so that a full-bridge detection circuit formed by the semiconductor strain gauges is adopted to measure My, Mx and Mz three-dimensional moment signals respectively, the inherent defects of weak output signals, low resolution, poor anti-interference capability and the like of the metal strain gauges are overcome, and the high sensitivity and high resolution of signal measurement are met.
The mode of combining the semiconductor strain gauge and the metal strain gauge has the advantages that the requirements of high precision and high stability of the mechanical feedback signal measurement of the tail end of the puncture needle in the medical automatic puncture operation are met, and the success rate and the reliability of the puncture operation are improved.
The elastomer 12 is made of hard aluminum alloy or titanium alloy, and is integrally processed, the hard aluminum alloy is used in a small puncture force range, the titanium alloy is used in a large puncture force range, and the configuration is very simple compared with a common medical mechanics sensor, so that the processing precision of the elastomer can be effectively ensured, and the manufacturing cost is reduced.
The flange cylinder 21, the developer storage cylinder 23 and the push rod 24 in the developing injector 2 are all cylindrical, the cylindrical outer surface of the push rod 24 is nested on the cylindrical inner surface of the developer storage cylinder 23, and the two are in coaxial linear sliding fit; a plane P is milled on the cylindrical outline of the flange cylinder 21, and one side end face of the developer storage cylinder 23 is fixedly arranged on the plane P; an axial hole h is arranged on one side of the central axis of the flange cylinder 21 facing the puncture needle 341A radial hole h is arranged along the radial direction of the flange cylinder 212Make the radial hole h2And axial hole h1A conduit is connected with the front end of the developer storage cylinder 23 and is embedded in the radial hole h of the flange cylinder 212In the middle, the lumen of the contrast agent storage cylinder 23 passes through the conduit and the axial hole h1Communicating with the needle 34, the contrast agent is typically liquid iodine.
The holding block 31 in the puncture needle holding piece shown in fig. 2a and 2b is locked on the head of the puncture needle 34 in two halves, and the holding block 31 is fixedly connected with the end face of the needle sheath reinforcing cylinder 32; the needle core reinforcing plate 33 is in two halves and embraces the waist part of the puncture needle 34, and the end surface is propped against the neck part of the puncture needle 34; the back half section of the needle sheath reinforcing cylinder 32 is fixedly sleeved on the neck part of the puncture needle 34, the front half section of the needle sheath reinforcing cylinder is fixedly sleeved on the tail part of the needle core reinforcing plate 33, and the back half section and the front half section are respectively fixed by screws uniformly distributed along the circumference; the total axial length of the clamping block 31, the needle sheath reinforcing cylinder 32 and the needle core reinforcing plate 33 is 1/2-2/3 of the length of the puncture needle 34, the effective distance of the slender needle core tail section of the puncture needle is ensured, the reasonable needle inserting depth of the puncture operation is ensured, the structural form ensures the strength and rigidity of the puncture needle 34, the structural process is good, and the installation, the disassembly and the maintenance are convenient. The puncture needle 34 is made of stainless steel or titanium alloy, and is integrally processed, so that the stainless steel puncture needle can be applied to puncture surgery occasions guided by CT or ultrasonic medical imaging equipment, and the titanium alloy non-magnetic material puncture needle can be applied to puncture surgery occasions guided by nuclear magnetic resonance medical imaging equipment.
Fig. 2a, fig. 6, fig. 7 and fig. 7a illustrate the stress condition of the multi-dimensional force detection device in the puncture operation, the medical mechanical arm controls the multi-dimensional force detection device to puncture the body tissue part of the patient, the puncture needle at the tail end of the interventional puncture device 3 enters the body tissue of the object to be punctured under the guidance of the medical image, and the six-dimensional puncture force F is generated between the tail end of the puncture needle and the environment tissue of the object to be puncturedPuncture needleSequentially transmitted to the elastic body 12 of the multi-dimensional force sensor 1 through the interventional puncture outfit 3 and the developing injector 2, and if the central point O of the elastic body 12 is taken as the origin of coordinates, the six-dimensional puncture force FPuncture needleThe elastic body 12 is subjected to quantitative elastic deformation, the resistance value of the strain gauge changes, and the six groups of electric bridges convert the resistance change of the strain gauge into voltage change; because the voltage variation is very small, a signal processing circuit of the multi-dimensional force information shown in fig. 8 is arranged, signals are sequentially subjected to zeroing, operational amplification, analog filtering, analog-to-digital conversion, digital filtering and numerical calculation, and the acquired multi-dimensional force information is transmitted to a control system through a communication interface, so that closed-loop control of the puncture surgery process is realized.
The operation process is as follows:
And 3, acquiring an end position S (shown in fig. 6) of the development track through the CT or nuclear magnetic resonance device, namely the position of the tail end puncture point of the puncture needle 34, planning a virtual navigation puncture route of the puncture needle 34 according to the puncture point position, and displaying the virtual navigation puncture route on a medical image of the CT or nuclear magnetic resonance device.
And 4, puncturing the puncture needle 34 along the virtual navigation puncture route in the step 3, continuously changing signals of the three-dimensional forces Fx, Fy and Fz and the three-dimensional moments My, Mx and Mz transmitted to the multi-dimensional force sensor 1 when the puncture needle 34 enters a puncture area, and judging whether the puncture needle 34 successfully enters a target range of tissues in a body or not through development track generation conditions fed back by medical images of a CT or nuclear magnetic resonance device, so that the medical mechanical arm 4 is controlled to guide the tail end of the puncture needle 34 to reach a target point position.
Claims (10)
1. A multi-dimensional force detection device for puncture surgery is characterized in that: the multi-dimensional force detection device is formed by fixedly connecting a multi-dimensional force sensor (1), a developing injector (2) and an interventional puncture device (3) end to end in sequence along a central axis A;
the multi-dimensional force sensor (1) takes a flange base (11) as a support, an elastic body (12) is supported on the flange base (11), and a force transmission cover (13) and the flange base (11) clamp and fix the elastic body (12) left and right; the flange base (11) is used as a connecting interface of the detection device and an external medical mechanical arm; the force transmission cover (13) is used as a stress transmission component in the puncture process; arranging each strain gauge on the elastic body (12) to form a detection device;
the developing injector (2) is characterized in that a flange cylinder (21) is connected between the interventional puncture device (3) and a force transmission cover (13) of the multidimensional force sensor (1), a developer storage cylinder (23) is communicated with the outside of the flange cylinder (21) along the radial direction, a push rod (24) is arranged in the developer storage cylinder (23), the developer in the developer storage cylinder (23) injected by the push rod (24) can be injected into a puncture needle (34) through an inner cavity channel of the flange cylinder (21), and the vicinity of a puncture point in the body tissue of a punctured object is developed;
the interventional puncture device (3) is used for clamping and fixing a puncture needle (34) with a needle core hole in a puncture needle clamping piece; the puncture needle clamping piece is formed by fixedly connecting a clamping block (31), a needle sheath reinforcing cylinder (32) and a needle core reinforcing plate (33) end to end along a central axis A in sequence, and the clamping block (31) is connected with the end face of the flange cylinder (21).
2. The multi-dimensional force detecting device for puncture surgery according to claim 1, wherein: the elastic body (12) is of a double-diaphragm structure, and the double-diaphragm structure is formed by connecting a front diaphragm (121) and a rear diaphragm (122) which are axially spaced into a whole through a central force transmission cylinder (123); arranging a strain gauge on the front diaphragm (121) to obtain three-dimensional moment information; strain gauges are provided on the rear diaphragm (122) to obtain three-dimensional force information.
3. The multi-dimensional force detecting device for puncture surgery according to claim 2, wherein: different strain gauges are arranged on the front diaphragm (121) and the rear diaphragm (122), and the strain gauges are respectively as follows: a semiconductor strain gauge is arranged on the front diaphragm (121) for obtaining three-dimensional moment information, and a metal strain gauge is arranged on the rear diaphragm (122) for obtaining three-dimensional force information.
4. The multi-dimensional force detecting apparatus for puncture surgery according to claim 3, wherein:
the front diaphragm (121) and the rear diaphragm (122) are E-shaped diaphragms, and the E-shaped front diaphragm (121) and the E-shaped rear diaphragm (122) are arranged back to back;
the E-shaped diaphragm is provided with a diaphragm inner cylinder, a diaphragm outer cylinder and a diaphragm annular plane connected between the diaphragm inner cylinder and the diaphragm outer cylinder;
the inner cylinders of the front diaphragm (121) and the rear diaphragm (122) and the central force transmission cylinder (123) are formed into an integral structure.
5. The multi-dimensional force detecting device for puncture surgery according to claim 4, wherein:
the semiconductor strain gauges arranged on the front diaphragm (121) are respectively 4X-axis semiconductor strain gauges A5, A6, A7 and A8, 4Y-axis semiconductor strain gauges A1, A2, A3 and A4 and 4Z-axis semiconductor strain gauges A9, A10, A11 and A12, and the semiconductor strain gauges are distributed as follows:
the X-axis semiconductor strain gauges A6 and A7 and the Y-axis semiconductor strain gauges A2 and A3 are distributed in a cross shape on the annular plane of the membrane and are attached to one side of the membrane inner cylinder;
the X-axis semiconductor strain gauges A5 and A8 and the Y-axis semiconductor strain gauges A1 and A4 are distributed on the annular plane of the film in a cross manner and are attached to one side of the film outer cylinder;
the Z-axis semiconductor strain gauges A9, A10, A11 and A12 are attached to the inner side wall of the film outer cylinder;
a full-bridge detection circuit c1 is formed by Y-axis semiconductor strain gauges A1, A2, A3 and A4 to obtain a moment My;
an X-axis semiconductor strain gauge A5, an X-axis semiconductor strain gauge A6, an X-axis semiconductor strain gauge A7 and an X-axis semiconductor strain gauge A8 form a full-bridge detection circuit c2, and a moment Mx is obtained;
the Z-axis semiconductor strain gauges a9, a10, a11, and a12 form a full-bridge detection circuit c3, and the torque Mz is obtained.
6. The multi-dimensional force detecting device for puncture surgery according to claim 4, wherein:
the metal strain gages arranged on the rear diaphragm (122) are respectively 4X-axis metal strain gages B1, B2, B3 and B4, 4Y-axis metal strain gages B5, B6, B7 and B8 and 4Z-axis metal strain gages B9, B10, B11 and B12, and the metal strain gages are distributed in the following mode:
x-axis metal strain gauges B2 and B3 and Y-axis metal strain gauges B6 and B7 are distributed on the annular plane of the membrane in a cross manner and are attached to one side of the membrane cylinder;
x-axis metal strain gauges B1 and B4 and Y-axis metal strain gauges B5 and B8 are distributed on the annular plane of the membrane in a cross manner and are attached to one side of the outer membrane cylinder;
the Z-axis semiconductor strain gauges B9, B10, B11 and B12 are positioned on a straight line L together, and the straight line L forms an included angle of 45 degrees with the X axis; the Z-axis semiconductor strain gauges B10 and B11 are attached to one side of the film inner cylinder, and the Z-axis semiconductor strain gauges B9 and B12 are attached to one side of the film outer cylinder;
a Y-axis metal strain gauge B5, B6, B7 and B8 form a full-bridge detection circuit c4 to obtain force Fy;
an X-axis metal strain gauge B1, B2, B3 and B4 form a full-bridge detection circuit c5 to obtain force Fx;
a full-bridge detection circuit c6 is formed by the Z-axis metal strain gauges B9, B10, B11 and B12, and the force Fz is obtained.
7. The multi-dimensional force detecting apparatus for puncture surgery according to claim 1, wherein: the flange cylinder (21), the developer storage cylinder (23) and the push rod (24) in the developing injector (2) are all cylindrical, the cylindrical outer surface of the push rod (24) is nested on the cylindrical inner surface of the developer storage cylinder (23), and the two are in coaxial linear sliding fit; a plane P is milled on the cylindrical outline of the flange cylinder (21), and one side end face of the developer storage cylinder (23) is fixedly arranged on the plane P; a section of axial hole h is arranged on the central axis position of the flange cylinder (21) towards one side where the puncture needle (34) is positioned1A section of radial hole h is arranged along the radial direction of the flange cylinder (21)2Making the radial hole h2And axial hole h1A section of conduit is fixedly connected with the front end of the developer storage cylinder (23) and is embedded in the radial hole h of the flange cylinder (21)2In the method, the inner cavity of the contrast agent storage cylinder (23) passes through a conduit and an axial hole h1Is communicated with the puncture needle (34).
8. The multi-dimensional force detecting device for puncture surgery according to claim 1, wherein:
a clamping block (31) in the puncture needle clamping piece is locked at the head of the puncture needle (34) in a two-half manner in an embracing mode, and the clamping block (31) is fixedly connected with the end face of the needle sheath reinforcing cylinder (32);
the stylet reinforcing plate (33) is in two halves and embraces the waist of the puncture needle (34), and the end surface is propped against the neck of the puncture needle (34);
the back half section of the needle sheath reinforcing cylinder (32) is fixedly sleeved on the neck of the puncture needle (34), the front half section of the needle sheath reinforcing cylinder is fixedly sleeved on the tail of the needle core reinforcing plate (33), and the back half section and the front half section are respectively fixed by screws uniformly distributed along the circumference.
9. The multi-dimensional force detecting device for puncture surgery according to claim 7, wherein: the axial coupling of the holding block (31), the sheath reinforcing cylinder (32) and the core wire reinforcing plate (33) has a total length of 1/2 to 2/3 of the length of the puncture needle (34).
10. The multi-dimensional force detecting device for puncture surgery according to claim 1, wherein: in the multi-dimensional force sensor (1): the flange base (11) is a disc-shaped base with a limiting boss; the force transmission cover (13) is a circular cover plate with a built-in circuit board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210304232.0A CN114674482B (en) | 2022-03-25 | 2022-03-25 | Multidimensional force detection device for puncture operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210304232.0A CN114674482B (en) | 2022-03-25 | 2022-03-25 | Multidimensional force detection device for puncture operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114674482A true CN114674482A (en) | 2022-06-28 |
| CN114674482B CN114674482B (en) | 2023-07-25 |
Family
ID=82076384
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210304232.0A Active CN114674482B (en) | 2022-03-25 | 2022-03-25 | Multidimensional force detection device for puncture operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114674482B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11347971A (en) * | 1998-06-10 | 1999-12-21 | Tokai Rika Co Ltd | Micromanipulator with force sensor |
| CN101419102A (en) * | 2008-11-25 | 2009-04-29 | 中国科学院合肥物质科学研究院 | Ultrathin six-dimensional force sensor and method thereof for measuring three-dimensional force and three-dimensional moment information |
| CN201409922Y (en) * | 2009-03-27 | 2010-02-24 | 孙东 | Epidural space puncture detection device |
| CN101672705A (en) * | 2009-09-29 | 2010-03-17 | 西北工业大学 | Six-dimensional force sensor |
| JP3172413U (en) * | 2011-10-06 | 2011-12-15 | 株式会社トライフォース・マネジメント | Force sensor |
| CN108775981A (en) * | 2018-06-12 | 2018-11-09 | 南昌大学 | A kind of high-precision differential type diaphragm optical fiber pressure capsule system |
| CN114152370A (en) * | 2021-11-09 | 2022-03-08 | 天津大学 | High-precision fiber grating force sensor for measuring puncture force of minimally invasive surgery |
-
2022
- 2022-03-25 CN CN202210304232.0A patent/CN114674482B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11347971A (en) * | 1998-06-10 | 1999-12-21 | Tokai Rika Co Ltd | Micromanipulator with force sensor |
| CN101419102A (en) * | 2008-11-25 | 2009-04-29 | 中国科学院合肥物质科学研究院 | Ultrathin six-dimensional force sensor and method thereof for measuring three-dimensional force and three-dimensional moment information |
| CN201409922Y (en) * | 2009-03-27 | 2010-02-24 | 孙东 | Epidural space puncture detection device |
| CN101672705A (en) * | 2009-09-29 | 2010-03-17 | 西北工业大学 | Six-dimensional force sensor |
| JP3172413U (en) * | 2011-10-06 | 2011-12-15 | 株式会社トライフォース・マネジメント | Force sensor |
| CN108775981A (en) * | 2018-06-12 | 2018-11-09 | 南昌大学 | A kind of high-precision differential type diaphragm optical fiber pressure capsule system |
| CN114152370A (en) * | 2021-11-09 | 2022-03-08 | 天津大学 | High-precision fiber grating force sensor for measuring puncture force of minimally invasive surgery |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114674482B (en) | 2023-07-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Polygerinos et al. | Triaxial catheter-tip force sensor for MRI-guided cardiac procedures | |
| CN102160909B (en) | Catheter with strain gauge sensor | |
| CN108433814B (en) | Surgical robot system and surgical instrument thereof | |
| CN102119871B (en) | Actuator-based calibration system for a pressure-sensitive catheter | |
| CA2754969C (en) | Calibration system for a force-sensing catheter | |
| US4987898A (en) | Method and device for the non-invasive measurement of pressure | |
| US20080297150A1 (en) | Arrangement for magnetic field measurement | |
| Li et al. | Disposable FBG-based tridirectional force/torque sensor for aspiration instruments in neurosurgery | |
| CN108593161A (en) | A kind of minimally invasive surgical operation robot three-dimensional force sensor based on fiber grating | |
| US9289265B2 (en) | MRI-compatible, integrated force and torque sensors and systems that incorporate the sensors | |
| CN104764552A (en) | Force sensor for sensing surgical operating force | |
| CN111001075B (en) | Catheter with form and position display and method thereof | |
| Mallos | An electrical caliper for continuous measurement of relative displacement | |
| CN113081235A (en) | Heart ablation catheter tip optical fiber three-dimensional force sensor with self-compensation of environmental errors | |
| CN112932627A (en) | Puncture device and method based on ultrasonic guidance | |
| CN217660056U (en) | Medical puncture outfit for realizing multi-dimensional force detection | |
| CN217660055U (en) | Medical puncture detection device | |
| CN108775981A (en) | A kind of high-precision differential type diaphragm optical fiber pressure capsule system | |
| CN114674482B (en) | Multidimensional force detection device for puncture operation | |
| Li et al. | Hybrid data-driven optimization design of a layered six-dimensional FBG force/moment sensor with gravity self-compensation for orthopedic surgery robot | |
| CA1294008C (en) | Periodontal probe with pressured piston and movement monitor | |
| WO2018094738A1 (en) | Pulse wave collection device, and pulse wave acquisition and calibration method | |
| US20220268864A1 (en) | Receiving coil device and magnetic resonance imaging apparatus including the same | |
| CN114098837A (en) | Force-shape self-sensing puncture needle based on light interference and long grating chirp effect | |
| CN216309630U (en) | Force and moment composite sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |