CN114674482B - Multidimensional force detection device for puncture operation - Google Patents
Multidimensional force detection device for puncture operation Download PDFInfo
- Publication number
- CN114674482B CN114674482B CN202210304232.0A CN202210304232A CN114674482B CN 114674482 B CN114674482 B CN 114674482B CN 202210304232 A CN202210304232 A CN 202210304232A CN 114674482 B CN114674482 B CN 114674482B
- Authority
- CN
- China
- Prior art keywords
- puncture
- cylinder
- axis
- needle
- detection device
- 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.)
- Active
Links
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 operation, 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 elastomer to form a detection device, a developing injector is communicated with a developer storage cylinder in the radial direction outside a flange cylinder, and developer in the developer storage cylinder pushed by a push rod can be injected into a puncture needle in an interventional puncture outfit through an inner cavity channel of the flange cylinder to develop near a puncture point in 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 tip position of the puncture needle in the tissue in real time, and assists a surgeon to implement accurate planning of the puncture path with high-precision and high-resolution detection performance, thereby promoting the intellectualization and automation of the puncture operation.
Description
Technical Field
The invention belongs to the technical field of medical automation equipment, and particularly relates to a multidimensional force detection device for puncture operation.
Background
In the conventional puncture interventional operation process, the puncture instrument deviates from the planned path due to factors such as human actions of an operator and tissue deformation of a patient, and the puncture instrument needs to be delivered to a target point through repeated needle insertion and diagnosis under the guidance of an image monitoring device, and the problems of the conventional mode include: the operation process depends on the operation experience of an operator to a great extent, so that the operation fatigue of the operator is increased due to the high working strength, and the operation effect is influenced; the deflection of the piercing instrument causes unnecessary damage to the tissue surrounding the instrument; the positioning accuracy directly associated with the effect of the puncture intervention is difficult to ensure.
The patent document with the publication number of CN112932627A discloses an ultrasonic-guided puncture device and method, wherein the ultrasonic-guided puncture device comprises a puncture needle module, a puncture area sensor and a processor, the puncture area sensor is connected with the processor, the puncture needle module comprises an optical fiber vibration sensor capable of measuring vibration, and the optical fiber vibration sensor is used for solving the accurate position data of human tissue on puncture needle reaction in the puncture process and improving the success rate of tube placement under ultrasonic guidance; however, the device judges whether the puncture needle successfully enters the blood vessel or not by adopting the optical fiber sensor to monitor the vibration condition of the puncture needle, the three-dimensional mechanical information of the puncture needle in the tissue can not be obtained, the accurate force feedback control can not be realized, and the path planning result of the puncture needle is affected.
The patent document with the publication number of CN112690880A discloses a puncture positioning device for cardiology, wherein the position of a puncture needle is adjusted and fixed by arranging a frame and a puncture positioning frame, and the length of the puncture needle which is pricked into a patient body is known by arranging a stay wire sensor, so that a doctor can know the puncture condition in real time; however, the rotating frame and the puncture positioning frame have complex structures, and the height and the position of the puncture needle can be adjusted and fixed only by repeatedly and manually rotating the multi-layer threaded rods on the frame and the puncture positioning frame, so that the puncture needle is unfavorable for improving the efficiency of puncture path planning and operation by cooperating with doctors, and the flexible transmission structure of the stay wire sensor cannot accurately feed back the three-dimensional mechanical information of the puncture needle in tissues.
Patent document with publication number CN112472918A discloses an intravenous transfusion anti-permeation device for nursing in a medical infusion room, 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 with a regulating tube, a pressure sensor is fixed in the joint tube, and whether the device is inserted into a blood vessel or not is judged through external monitoring equipment so as to avoid permeation; however, the device monitors the stress condition of the puncture needle in the blood vessel through the pressure sensor, obtains single-dimensional mechanical information, cannot realize accurate force feedback control, and cannot guarantee the accuracy and resolution of the measured puncture force.
Disclosure of Invention
The invention provides a multidimensional force detection device for puncture operation, which is used for obtaining multidimensional mechanical information of a puncture needle in a tissue through detection, displaying the needle point position of the puncture needle in the tissue in real time, assisting a surgeon to implement accurate planning of a puncture path with high-precision and high-resolution detection performance, and promoting 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 operation is characterized in that: the multidimensional force detection device is formed by sequentially fixedly connecting a multidimensional force sensor, a developing injector and an interventional puncture outfit along a central axis A in an end-to-end manner;
the multidimensional force sensor takes a flange base as a support, an elastomer is supported on the flange base, and a force transmission cover and the flange base clamp and fix the elastomer left and right; the flange base is used as a connecting interface between the detection device and an external medical mechanical arm; the force transmission cover is used as a stress transmission component in the puncturing process; arranging strain gauges 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 pushed by the push rod can be injected into a puncture needle through an inner cavity channel of the flange cylinder to develop 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 sequentially fixedly connecting a clamping block, a needle sheath reinforcing cylinder and a needle core reinforcing plate end to end along a central axis A, and the clamping block is connected with the end face of the flange cylinder.
The multidimensional force detection device for puncture operation 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; setting a strain gauge on the front diaphragm to obtain three-dimensional moment information; strain gages are arranged on the rear diaphragm to obtain three-dimensional force information.
The multidimensional force detection device for puncture operation 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 a semiconductor strain gauge is arranged on the front diaphragm for obtaining three-dimensional moment information, and a metal strain gauge is arranged on the rear diaphragm for obtaining three-dimensional force information.
The multidimensional force detection device for puncture operation is also characterized in that:
the front diaphragm and the rear diaphragm are both E-shaped diaphragms, and the E-shaped front diaphragm and the E-shaped rear diaphragm are arranged back to back;
the E-shaped membrane is provided with a membrane inner cylinder, a membrane outer cylinder and a membrane annular plane connected between the membrane inner cylinder and the membrane outer cylinder;
the inner cylinders and the central force transmission cylinder in the front diaphragm and the rear diaphragm are formed into an integral structure.
The multidimensional force detection device for puncture operation is also characterized in that:
the semiconductor strain gages arranged on the front diaphragm are respectively 4X-axis semiconductor strain gages A5, A6, A7 and A8, 4Y-axis semiconductor strain gages A1, A2, A3 and A4 and 4Z-axis semiconductor strain gages A9, A10, A11 and A12, and the semiconductor strain gages are distributed as follows:
x-axis semiconductor strain gauges A6 and A7 and Y-axis semiconductor strain gauges A2 and A3 are distributed on the annular plane of the film in a cross manner and are adhered to one side of the inner barrel of the film;
x-axis semiconductor strain gauges A5 and A8 and Y-axis semiconductor strain gauges A1 and A4 are distributed on the annular plane of the film in a cross manner and are adhered to one side of the outer barrel of the film;
each Z-axis semiconductor strain gauge A9, A10, A11 and A12 is attached to the inner side wall of the film outer cylinder;
the full-bridge detection circuit c1 is formed by the Y-axis semiconductor strain gages A1, A2, A3 and A4, so as to obtain a moment My;
the full-bridge detection circuit c2 is formed by the X-axis semiconductor strain gauges A5, A6, A7 and A8, so as to obtain moment Mx;
the moment Mz is obtained by forming a full-bridge detection circuit c3 by Z-axis semiconductor strain gages A9, A10, A11 and A12.
The multidimensional force detection device for puncture operation is also characterized in that:
the metal strain gauges arranged on the rear diaphragm are 4X-axis metal strain gauges B1, B2, B3 and B4, 4Y-axis metal strain gauges B5, B6, B7 and B8 and 4Z-axis metal strain gauges B9, B10, B11 and B12 respectively, and the metal strain gauges are distributed as follows:
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 inner cylinder of the membrane;
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 film in a cross manner and are attached to one side of the outer barrel of the film;
the Z-axis semiconductor strain gauges B9, B10, B11 and B12 are positioned on a straight line L, and the straight line L forms an included angle of 45 degrees with the X-axis; wherein, Z-axis semiconductor strain gauges B10 and B11 are attached to one side of the inner membrane cylinder, and Z-axis semiconductor strain gauges B9 and B12 are attached to one side of the outer membrane cylinder;
the Y-axis metal strain gauges B5, B6, B7 and B8 form a full-bridge detection circuit c4, and force Fy is obtained;
the X-axis metal strain gauges B1, B2, B3 and B4 form a full-bridge detection circuit c5, and force Fx is obtained;
the full-bridge detection circuit c6 is formed by the Z-axis metal strain gages B9, B10, B11 and B12, and the force Fz is obtained.
The multidimensional force detection device for puncture operation is also characterized in that: the flange cylinder, the developer storage cylinder and the push rod in the developing injector are all cylindrical, and the cylindrical outer surface of the push rod is nested on the cylindrical inner surface of the developer storage cylinder and is in coaxial linear sliding fit with the cylindrical outer surface of the push rod; 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; the central axis of the flange cylinder is opened towards one side of the puncture needleAn axial hole h is arranged 1 A section of radial hole h is formed along the radial direction of the flange cylinder 2 Causing the radial holes h to 2 And an axial hole h 1 A section of conduit is fixedly connected with the front end of the developer storage cylinder and is embedded in a radial hole h of the flange cylinder 2 The inner cavity of the shadow agent storage cylinder passes through the guide pipe and the axial hole h 1 Is communicated with the puncture needle.
The multidimensional force detection device for puncture operation is also characterized in that:
the clamping blocks in the puncture needle clamping piece are locked at the head of the puncture needle in a two-half way, and are fixedly connected with the end face of the needle sheath reinforcing cylinder;
the needle core reinforcing plate is in two halves and is wrapped around the waist of the puncture needle, and the end face of the needle core reinforcing plate abuts against the neck of the puncture needle;
the needle sheath reinforcing cylinder is fixedly sleeved on the neck of the puncture needle through the rear half section, fixedly sleeved on the tail of the needle core reinforcing plate through the front half section, and respectively fixed on the rear half section and the front half section through screws uniformly distributed along the circumference.
The multidimensional force detection device for puncture operation is also characterized in that: the total length of the axial connection of the clamping block, the needle sheath reinforcement cylinder and the needle core reinforcement plate is 1/2 to 2/3 of the length of the puncture needle.
The multidimensional force detection device for puncture operation is also characterized in that: in the multidimensional force sensor: the flange base is a disc-shaped base with a limiting boss; the force transmission cover is a round cover plate with a built-in circuit board.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention integrates multidimensional force detection and development, can obtain 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 to implement accurate planning of a puncture path, and promotes the 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 the double-diaphragm structure, and three-dimensional moment information and three-dimensional force information detection are jointly 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 high sensitivity and high resolution of the semiconductor strain gauge on signal measurement and the performance advantages of the metal strain gauge on high linearity and high stability of the signal measurement are obtained, the two mutually complement each other, the requirements of medical automatic puncture operation on high precision and high stability of the mechanical feedback signal measurement of the tail end of the puncture needle can be met, and the success rate and reliability of the puncture operation are improved;
5. according to the invention, by developing near the puncture point in the body tissue of the punctured object, the accurate positions of the puncture needle and the puncture point are obtained, so that the virtual navigation puncture route of the puncture needle is planned according to the puncture point fed back by the medical image, and the real-time three-dimensional puncture force signal and the three-dimensional puncture moment signal measured by the multi-dimensional force sensor are combined, so that the puncture needle can be used for a tail end motion control system of a medical mechanical arm to realize the guidance of the optimal planning route of the puncture operation;
6. the puncture needle can be of different series of model specifications, corresponds to 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 processed and manufactured by the stainless steel material can be applied to puncture operation occasions under the guidance of CT or ultrasonic medical imaging equipment, and the puncture needle processed and manufactured by the titanium alloy nonmagnetic material can be applied to puncture operation occasions under the guidance of nuclear magnetic resonance medical imaging equipment, so that the universality and the replaceability are good.
Drawings
FIG. 1 is a schematic view of the external construction of the present invention;
FIGS. 2a and 2b are front and side views, respectively, of the internal structure of the present invention;
FIG. 3 is an exploded schematic view of a multi-dimensional force sensor of the present invention;
FIGS. 4a, 4b and 4c are schematic front, side and rear elevational views, respectively, of an elastomer of the present invention;
FIG. 5 is a schematic diagram of a six-group full-bridge detection circuit of the multi-dimensional force sensor of the present invention;
FIG. 6 is a schematic diagram of the stress state of the invention for multi-dimensional mechanical information detection in a tissue;
FIG. 7 is a schematic view of a typical exemplary application of the present invention in a puncture procedure; FIG. 7a is an enlarged view of a portion of FIG. 7;
fig. 8 is a block diagram of a signal processing circuit of multi-dimensional force information applied to a puncture operation according to the present invention.
Reference numerals in the drawings: 1 multidimensional force sensor, 2 developing injector, 3 intervention puncture outfit, 4 medical mechanical arm, 5 punctured object, 11 flange base, 12 elastomer, 13 force transmission cover, 21 flange cylinder, 22 developer, 23 developer storage cylinder, 24 push rod, 31 clamping block, 32 needle sheath reinforcement cylinder, 33 needle core reinforcement plate, 34 puncture needle, 121 front membrane, 122 back membrane, 123 center force transmission cylinder.
Detailed Description
Referring to fig. 1, the multidimensional force detecting device for puncture operation in the present embodiment is composed of a multidimensional force sensor 1, a developing injector 2 and an interventional puncture outfit 3 which are fixedly connected in sequence from head to tail along a central axis a.
The multidimensional force sensor 1 is a direct sensitive component for measuring six-dimensional puncture force information in a puncture operation; the developing injector 2 is used as a transmission medium for developer entering into the punctured tissue on the one hand, and is also used as a mechanical information transmission device between the multidimensional force sensor 1 and the interventional puncture outfit 3 on the other hand; the tail end of the interventional puncture outfit 3 is directly contacted with the surface of a punctured object when executing the puncture operation task, and belongs to the tail end executor 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 mutually overlapped to form a multidimensional puncture force detection device.
Referring to fig. 2a and 2b, in the multidimensional force sensor 1, a flange base 11 is used 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 puncturing 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; the strain gauges are arranged on the elastic body 12 to form a detection device, and the structural type can ensure the compact size space of the sensor and the reliability of mechanical information transmission; the developing injector 2 provides support for the developing and positioning function of the puncture operation, which is to connect a flange cylinder 21 between the interventional puncture device 3 and the force transmission cover 13 of the multidimensional force sensor 1, the outside of the flange cylinder 21 is radially communicated with a developer storage cylinder 23, a push rod 24 is arranged in the developer storage cylinder 23, the developer in the developer storage cylinder 23 pushed by the push rod 24 can be injected into a puncture needle 34 through an inner cavity of the flange cylinder 21, and the development is carried out near the puncture point in the body tissue of a punctured object; the insertion puncture outfit 3 is characterized in that a puncture needle 34 with a needle core hole is clamped in a puncture needle clamping piece to be fixed; the puncture needle clamping piece is formed by sequentially 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, 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 a punctured object through the puncture needle 34 with reinforced strength and rigidity, and six-dimensional puncture force is generated between the tail end of the puncture needle 34 and the environmental tissue of the punctured object in the implementation process of the puncture operation, and is transmitted to the elastomer 12 of the multidimensional force sensor 1 through the interventional puncture device 3 and the developing injector 2 in sequence, so that the magnitude and the direction of the puncture force are sensed and measured; on the other hand, the developer 22 is sequentially fed into the vicinity of the puncture point 1 in the body tissue of the punctured object through the developing injector 2 and the interventional puncture device 3, and is used for acquiring 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 operation planning path is realized.
In specific implementation, the corresponding technical measures further comprise:
as shown in fig. 4a, 4b and 4c, the elastic body 12 has a double-diaphragm structure, wherein a front diaphragm 121 and a rear diaphragm 122 at axially spaced positions are connected into a whole through a central force transmission cylinder 123, and the central force transmission cylinder 122 is provided with a central through hole for a lead wire; providing strain gauges on the front diaphragm 121 to obtain three-dimensional moment information; strain gages are provided on rear diaphragm 122 to obtain three-dimensional force information.
Different strain gages are provided on the front diaphragm 121 and the rear diaphragm 122, respectively: providing a semiconductor strain gauge on the front diaphragm 121 for obtaining three-dimensional moment information; a metal strain gauge is provided on 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 membrane is provided with a membrane inner cylinder, a membrane outer cylinder and a membrane annular plane connected between the membrane inner cylinder and the membrane outer cylinder; the inner cylinders of the front diaphragm 121 and the rear diaphragm 122 are formed as a unitary structure with the central force transmitting cylinder 123, and the annular planes of the membranes in the front diaphragm 121 and the rear diaphragm 122 are parallel to each other.
The semiconductor strain gages provided on the front diaphragm 121 are respectively 4X-axis semiconductor strain gages, 4Y-axis semiconductor strain gages, and 4Z-axis semiconductor strain gages, each of which is distributed as follows:
x-axis semiconductor strain gauges A6 and A7 and Y-axis semiconductor strain gauges A2 and A3 are distributed on the annular plane of the film in a cross manner and are adhered to one side of the inner barrel of the film;
x-axis semiconductor strain gauges A5 and A8 and Y-axis semiconductor strain gauges A1 and A4 are distributed on the annular plane of the film in a cross shape and are adhered to one side of the outer cylinder of the film;
each Z-axis semiconductor strain gauge A9, A10, A11 and A12 is stuck to the inner side wall of the film outer cylinder, a T-shaped metal sheet is arranged at the corresponding position, and each Z-axis semiconductor strain gauge is stuck to the corresponding position of the T-shaped metal sheet;
the full-bridge detection circuit c1 is formed by the Y-axis semiconductor strain gages A1, A2, A3 and A4, so as to obtain a moment My;
the full-bridge detection circuit c2 is formed by the X-axis semiconductor strain gauges A5, A6, A7 and A8, so as to obtain moment Mx;
the moment Mz is obtained by forming a full-bridge detection circuit c3 by Z-axis semiconductor strain gages A9, A10, A11 and A12.
The semiconductor strain gauge works by utilizing the piezoresistance effect of the semiconductor and has sensitivityThe device has the advantages of high working frequency bandwidth, small mechanical hysteresis and high resolution, and is particularly suitable for sensing and measuring three-dimensional puncture moment information. As shown in fig. 5, the full-bridge detection circuit c1 outputs a voltage Δu My Which is proportional to the magnitude of the moment My acting on the sensor; output voltage DeltaU of full-bridge detection circuit c2 Mx Which is proportional to the magnitude of the moment Mx acting on the sensor; the output voltage of the full-bridge detection circuit c3 is DeltaU Mz Which is proportional to the magnitude of the moment Mz acting on the sensor.
The metal strain gages provided on the rear diaphragm 122 are respectively 4X-axis metal strain gages, 4Y-axis metal strain gages and 4Z-axis metal strain gages, and the respective metal strain gages are distributed as follows:
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 inner cylinder of the membrane;
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 film in a cross shape and are attached to one side of the outer cylinder of the film;
the Z-axis semiconductor strain gauges B9, B10, B11 and B12 are positioned on a straight line L, and the straight line L forms an included angle of 45 degrees with the X-axis; wherein, Z-axis semiconductor strain gauges B10 and B11 are attached to one side of the inner membrane cylinder, and Z-axis semiconductor strain gauges B9 and B12 are attached to one side of the outer membrane cylinder;
the Y-axis metal strain gauges B5, B6, B7 and B8 form a full-bridge detection circuit c4, and force Fy is obtained;
the X-axis metal strain gauges B1, B2, B3 and B4 form a full-bridge detection circuit c5, and force Fx is obtained;
the full-bridge detection circuit c6 is formed by the Z-axis metal strain gages B9, B10, B11 and B12, and the force Fz is obtained.
The metal strain gauge is operated by changing resistance through changing output parameters by deforming metal by using external force, has large deformation amount, good linearity and good frequency characteristic when operated, and is particularly suitable for sensing and measuring three-dimensional puncture force information. The full-bridge detection circuit c4 outputs the voltage DeltaU Fx Which is proportional to the magnitude of the force Fx acting on the sensor; the full-bridge detection circuit c5 outputs a voltage DeltaU Fy Which is in contact with the sensorThe magnitude of force Fy is proportional; full-bridge detection circuit c6 outputs voltage DeltaU Fz Which is proportional to the magnitude of the force Fz acting on the sensor.
When the puncture force or moment is transmitted to the elastic body 12, the corresponding parts on the force sensitive element are elastically deformed, the strain gauge is deformed along with the deformation of the force sensitive element, the resistance value of the strain gauge is changed, the output voltage of the six groups of full-bridge detection circuits is changed, and the model relation between the voltage variation and the force or moment applied to the force sensitive element can be established through six-dimensional force calibration and inter-dimensional decoupling treatment, so that the magnitude of the six-dimensional force and moment on the multi-dimensional force sensor 1 can be calculated.
In the process of implementing automatic puncture operation by a medical mechanical arm, on one hand, the surrounding working environment can 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 a full-bridge detection circuit formed by metal strain gages is used for measuring Fx, fy and Fz three-dimensional force signals, so that the defects of poor temperature stability, high sensitivity discreteness, high nonlinear error and the like of a semiconductor strain gage are overcome, and the high linearity and high stability of signal measurement are met; on the other hand, the mechanical signal of the tip of the tail end needle, which is required to be measured by the automatic puncture operation, has high accuracy and small error, so that a full-bridge detection circuit formed by the semiconductor strain gauge is used for respectively measuring My, mx and Mz three-dimensional moment signals, thereby being beneficial to overcoming the inherent defects of weak output signal, low resolution, poor anti-interference capability and the like of the metal strain gauge and meeting the requirements of high sensitivity and high resolution of signal measurement.
The mode of combining the semiconductor strain gauge and the metal strain gauge meets the requirements of medical automatic puncture operation on high precision and high stability of mechanical feedback signal measurement at the tail end of the puncture needle, and the success rate and reliability of the puncture operation are improved.
The material of the elastic body 12 is hard aluminum alloy or titanium alloy, the hard aluminum alloy is used for small puncture force measuring range, the titanium alloy is used for large puncture force measuring range, the structure is very simple compared with a common medical mechanical sensor, the processing precision of the elastic body 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, and the cylindrical outer surface of the push rod 24 is nested on the cylindrical inner surface of the developer storage cylinder 23 and is in coaxial linear sliding fit with each other; a plane P is milled on the cylindrical outline of the flange cylinder 21, and one side end surface of the developer storage cylinder 23 is fixedly arranged on the plane P; an axial hole h is formed on the central axis of the flange cylinder 21 toward the side of the puncture needle 34 1 A section of radial hole h is formed along the radial direction of the flange cylinder 21 2 Making radial hole h 2 And an axial hole h 1 A conduit is fixedly connected to the front end of the developer storage cylinder 23, and is fitted into the radial hole h of the flange cylinder 21 2 In which the inner cavity of the shadow agent storage cylinder 23 passes through the guide tube and the axial hole h 1 In communication with the lancet 34, the developer is typically a liquid iodine-producing developer.
The clamping block 31 in the puncture needle clamping piece shown in fig. 2a and 2b is locked on the head of the puncture needle 34 in a way of two halves in a clasping way, and the clamping block 31 is fixedly connected with the end face of the needle sheath reinforcement cylinder 32; the needle core reinforcing plate 33 is in two halves and is wrapped around the waist of the puncture needle 34, and the end face of the needle core reinforcing plate abuts against the neck of the puncture needle 34; the needle sheath reinforcement cylinder 32 is fixedly sleeved on the neck of the puncture needle 34 by the rear half section, is fixedly sleeved on the tail of the needle core reinforcement plate 33 by the front half section, and is respectively fixed on the rear half section and the front half section by screws uniformly distributed along the circumference; the axial connection total length of the clamping block 31, the needle sheath reinforcement cylinder 32 and the needle core reinforcement plate 33 is 1/2 to 2/3 of the length of the puncture needle 34, so that the effective distance of the tail section of the slender needle core of the puncture needle is ensured, the reasonable needle insertion depth of the puncture operation is ensured, the strength and the rigidity of the puncture needle 34 are ensured by the structural form, and the puncture needle is good in structural manufacturability and convenient to install, disassemble and maintain. The puncture needle 34 is made of stainless steel or titanium alloy, and is integrally processed, the stainless steel puncture needle can be applied to puncture operation occasions under the guidance of CT or ultrasonic medical imaging equipment, and the titanium alloy non-magnetic material puncture needle can be applied to puncture operation occasions under the guidance of nuclear magnetic resonance medical imaging equipment.
FIGS. 2a, 6, 7 and 7a illustrate the stress conditions of the multi-dimensional force detection device in the puncture operation, and the medical mechanical arm controls the multi-dimensional force detection deviceThe puncture needle at the tail end of the interventional puncture outfit 3 enters the body tissue of the punctured object under the guidance of the medical image, and six-dimensional puncture force F is generated between the tail end of the puncture needle and the environmental tissue of the punctured object Puncture needle The force is transmitted to the elastic body 12 of the multidimensional force sensor 1 through the intervention puncture outfit 3 and the developing injector 2 in sequence, if the center point O of the elastic body 12 is taken as the origin of coordinates, the six-dimensional puncture force F Puncture needle The three forces Fx, fy and Fz and the three moments My, mx and Mz acting on the O can be equivalently expressed, the elastic body 12 quantitatively and elastically deforms, the resistance value of the strain gage changes, and the six groups of bridges convert the resistance change of the strain gage into voltage change; because the voltage variation is small, a signal processing circuit of the multidimensional force information shown in fig. 8 is arranged, signals are subjected to zeroing, operational amplification, analog filtering, analog-to-digital conversion, digital filtering and numerical calculation in sequence, and the acquired multidimensional force information is transmitted to a control system through a communication interface, so that closed-loop control of the puncture operation process is realized.
The operation process comprises the following steps:
step 1, before the puncture operation, a CT or nuclear magnetic resonance device is used to position a suitable puncture position on the surface of the object 5 to be punctured, and the medical mechanical arm 4 is controlled to move the multidimensional force detecting device to the position to be punctured (shown in fig. 7 a), so as to obtain an initial signal of the puncture area.
Step 2, during the puncture operation, the plunger 24 of the developing syringe 2 injects the developer 22 into the flange cylinder 21 through the developer storage cylinder 23, and the developer 22 passes through the radially elongated hole h of the developer storage cylinder 23 2 The middle embedded elongated conduit flows into the axial elongated hole h of the flange cylinder 21 1 In turn, passes through the through-core hole h of the puncture needle 34 3 (shown in fig. 2 a) flows into the tissue in the body of the puncture subject 5, and the developer 22 follows the puncture path of the puncture needle 34 in the tissue to form a development track.
Step 3, acquiring an end point position S (shown in fig. 6) of the developing track by a CT or nuclear magnetic resonance device, that is, a position of a puncture point at the end 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, wherein when the puncture needle 34 enters a puncture area, signals of three-dimensional forces Fx, fy and Fz and three-dimensional moments My, mx and Mz transmitted to the multi-dimensional force sensor 1 are continuously changed, and meanwhile, whether the puncture needle 34 successfully enters a target range of in-vivo tissues is judged through the development track generation condition fed back by a CT or nuclear magnetic resonance device medical image, so that the medical mechanical arm 4 is controlled to guide the tail end of the puncture needle 34 to reach the target point position.
Claims (10)
1. A multidimensional force detection device for puncture operation, which is characterized in that: the multidimensional force detection device is formed by sequentially fixedly connecting a multidimensional force sensor (1), a developing injector (2) and an interventional puncture outfit (3) along a central axis A in an end-to-end manner;
the multidimensional 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 puncturing process; arranging strain gauges 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 an intervention puncture outfit (3) and a force transmission cover (13) of a multidimensional force sensor (1), a developer storage cylinder (23) is radially communicated with the outside of the flange cylinder (21), a push rod (24) is arranged in the developer storage cylinder (23), and the developer in the developer storage cylinder (23) pushed by the push rod (24) can be injected into a puncture needle (34) through an inner cavity of the flange cylinder (21) to develop near a puncture point in body tissues of a punctured object;
the interventional puncture outfit (3) is characterized in that a puncture needle (34) with a needle core hole is clamped in a puncture needle clamping piece to be fixed; the puncture needle clamping piece is formed by sequentially 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, and the clamping block (31) is connected with the end face of the flange cylinder (21).
2. The multi-dimensional force detection device for use in a puncture procedure of 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 positioned at axially-spaced positions into a whole through a central force transmission cylinder (123); setting a strain gauge on the front diaphragm (121) to obtain three-dimensional moment information; strain gages are provided on the rear diaphragm (122) to obtain three-dimensional force information.
3. The multi-dimensional force detection device for use in a puncture procedure of 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. A multi-dimensional force detection device for use in a puncture procedure 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 membrane is provided with a membrane inner cylinder, a membrane outer cylinder and a membrane annular plane connected between the membrane inner cylinder and the membrane outer cylinder;
the inner cylinders and the central force transmission cylinder (123) in the front diaphragm (121) and the rear diaphragm (122) are formed into an integral structure.
5. The multi-dimensional force detection device for use in a puncture procedure of claim 4, wherein:
the semiconductor strain gages arranged on the front diaphragm (121) are 4 pieces of X-axis semiconductor strain gages A5, A6, A7 and A8,4 pieces of Y-axis semiconductor strain gages A1, A2, A3 and A4 and 4 pieces of Z-axis semiconductor strain gages A9, A10, A11 and A12, respectively, and the semiconductor strain gages are distributed as follows:
x-axis semiconductor strain gauges A6 and A7 and Y-axis semiconductor strain gauges A2 and A3 are distributed on the annular plane of the film in a cross manner and are adhered to one side of the inner barrel of the film;
x-axis semiconductor strain gauges A5 and A8 and Y-axis semiconductor strain gauges A1 and A4 are distributed on the annular plane of the film in a cross manner and are adhered to one side of the outer barrel of the film;
each Z-axis semiconductor strain gauge A9, A10, A11 and A12 is attached to the inner side wall of the film outer cylinder;
the full-bridge detection circuit c1 is formed by the Y-axis semiconductor strain gages A1, A2, A3 and A4, so as to obtain a moment My;
the full-bridge detection circuit c2 is formed by the X-axis semiconductor strain gauges A5, A6, A7 and A8, so as to obtain moment Mx;
the moment Mz is obtained by forming a full-bridge detection circuit c3 by Z-axis semiconductor strain gages A9, A10, A11 and A12.
6. The multi-dimensional force detection device for use in a puncture procedure of claim 4, wherein:
the metal strain gages arranged on the rear diaphragm (122) are 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, respectively, and the metal strain gages are distributed as follows:
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 inner cylinder of the membrane;
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 film in a cross manner and are attached to one side of the outer barrel of the film;
the Z-axis semiconductor strain gauges B9, B10, B11 and B12 are positioned on a straight line L, and the straight line L forms an included angle of 45 degrees with the X-axis; wherein, Z-axis semiconductor strain gauges B10 and B11 are attached to one side of the inner membrane cylinder, and Z-axis semiconductor strain gauges B9 and B12 are attached to one side of the outer membrane cylinder;
the Y-axis metal strain gauges B5, B6, B7 and B8 form a full-bridge detection circuit c4, and force Fy is obtained;
the X-axis metal strain gauges B1, B2, B3 and B4 form a full-bridge detection circuit c5, and force Fx is obtained;
the full-bridge detection circuit c6 is formed by the Z-axis metal strain gages B9, B10, B11 and B12, and the force Fz is obtained.
7. The multi-dimensional force detection device for use in a puncture procedure of 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, and the cylindrical outer surface of the push rod (24) is nested on the cylindrical inner surface of the developer storage cylinder (23) and is in coaxial linear sliding fit with the cylindrical inner surface of the developer storage cylinder; a plane P is milled on the cylindrical outline of the flange cylinder (21), and one side end surface of the developer storage cylinder (23) is fixedly arranged on the plane P; an axial hole h is formed on the central axis of the flange cylinder (21) towards the side where the puncture needle (34) is located 1 A section of radial hole h is formed along the radial direction of the flange cylinder (21) 2 Causing the radial holes h to 2 And an axial hole h 1 A section of conduit is fixedly connected with the front end of the developer storage cylinder (23), and is embedded in a radial hole h of the flange cylinder (21) 2 In which the inner cavity of the shadow agent storage cylinder (23) passes through the guide pipe and the axial hole h 1 Is communicated with the puncture needle (34).
8. The multi-dimensional force detection device for use in a puncture procedure of claim 1, wherein:
the clamping block (31) in the puncture needle clamping piece is locked at the head of the puncture needle (34) in a two-half way, and the clamping block (31) is fixedly connected with the end face of the needle sheath reinforcement cylinder (32);
the needle core reinforcing plate (33) is in two halves and is wrapped around the waist of the puncture needle (34), and the end face of the needle core reinforcing plate is abutted against the neck of the puncture needle (34);
the needle sheath reinforcement cylinder (32) is fixedly sleeved on the neck of the puncture needle (34) by the rear half section, is fixedly sleeved on the tail of the needle core reinforcement plate (33) by the front half section, and is respectively fixed on the rear half section and the front half section by screws uniformly distributed along the circumference.
9. The multi-dimensional force detection device for use in a puncture procedure of claim 7, wherein: the total length of the axial connection of the clamping block (31), the needle sheath reinforcement cylinder (32) and the needle core reinforcement plate (33) is 1/2 to 2/3 of the length of the puncture needle (34).
10. The multi-dimensional force detection device for use in a puncture procedure of claim 1, wherein: in the multidimensional force sensor (1): the flange base (11) is a disc-shaped base with a limit boss; the force transmission cover (13) is a round 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 CN114674482A (en) | 2022-06-28 |
| CN114674482B true 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 |
|---|---|
| CN114674482A (en) | 2022-06-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108433814B (en) | Surgical robot system and surgical instrument thereof | |
| US4764114A (en) | Analysis system | |
| US9398892B2 (en) | Device and method for a trackable ultrasound | |
| US4987898A (en) | Method and device for the non-invasive measurement of pressure | |
| Lambert et al. | The use of a resistance wire, strain gauge manometer to measure intraarterial pressure | |
| Li et al. | Disposable FBG-based tridirectional force/torque sensor for aspiration instruments in neurosurgery | |
| CN111001075B (en) | Catheter with form and position display and method thereof | |
| US9289265B2 (en) | MRI-compatible, integrated force and torque sensors and systems that incorporate the sensors | |
| CN114674482B (en) | Multidimensional force detection device for puncture operation | |
| CN112932627A (en) | Puncture device and method based on ultrasonic guidance | |
| CN113081235A (en) | Heart ablation catheter tip optical fiber three-dimensional force sensor with self-compensation of environmental errors | |
| CN108775981A (en) | A kind of high-precision differential type diaphragm optical fiber pressure capsule system | |
| CN217660056U (en) | Medical puncture outfit for realizing multi-dimensional force detection | |
| CN217660055U (en) | Medical puncture detection device | |
| CN106308920A (en) | Ablation catheter | |
| CN106308921A (en) | Ablation device having pressure detection function | |
| CA1294008C (en) | Periodontal probe with pressured piston and movement monitor | |
| WO2018094738A1 (en) | Pulse wave collection device, and pulse wave acquisition and calibration method | |
| CN115252123A (en) | Vascular intervention tool position determining device, measuring device and system | |
| CN114569201B (en) | Image navigation puncture needle insertion point detection method and device | |
| KR20220072157A (en) | Apparatus for detecting and monitoring extrevasation | |
| CN116531107A (en) | Force sensing device, medical instrument, medical control system and master-slave medical control system | |
| KR0158047B1 (en) | Device for detecting pulse | |
| CN209915949U (en) | Eye pressure measuring device | |
| CN110170089A (en) | A kind of perfusion tube pressure 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 |