CN114795428B - Capacitive force feedback puncture needle and capacitive force feedback puncture device - Google Patents
Capacitive force feedback puncture needle and capacitive force feedback puncture device Download PDFInfo
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- CN114795428B CN114795428B CN202210754661.8A CN202210754661A CN114795428B CN 114795428 B CN114795428 B CN 114795428B CN 202210754661 A CN202210754661 A CN 202210754661A CN 114795428 B CN114795428 B CN 114795428B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3494—Trocars; Puncturing needles with safety means for protection against accidental cutting or pricking, e.g. limiting insertion depth, pressure sensors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
Abstract
The application discloses electric capacity force feedback pjncture needle and electric capacity force feedback puncture equipment includes: the needle body is arranged in a hollow manner, and the inner side of the needle body is provided with a conductive part; the electrode core is sleeved in the needle body; the first insulating layer is arranged in the needle body and positioned between the electrode core and the conductive part so as to insulate the electrode core and the conductive part, and a capacitance gap is formed between the electrode core and the conductive part; the conductive part and the electrode core are connected with electrode leads extending out of the needle body, the electrode leads are electrically connected with the capacitance detection module, capacitance change generated by capacitance gap change caused by pressure deformation of the needle body can be transmitted to the capacitance detection module, and the capacitance detection module determines output force corresponding to current capacitance change according to the relationship between the pre-calibrated capacitance change and force. The problem of among the correlation technique when carrying out the puncture operation, the pjncture needle can't feed back the power that receives among the puncture process to the operation end is solved in this application.
Description
Technical Field
The application relates to the technical field of medical equipment, in particular to a capacitive force feedback puncture needle and capacitive force feedback puncture equipment.
Background
The puncture needle is a medical instrument for sampling and injecting tissues of various organs such as kidney, liver, lung, mammary gland, thyroid gland, prostate, pancreas, testis, uterus, ovary, body surface and the like in minimally invasive surgery. At present, a mechanical arm is often used for remote control in puncture treatment, and a user controls a multi-degree-of-freedom manipulator at an operation end to control the mechanical arm to synchronously act and drive a puncture needle positioned at an end effector of the mechanical arm to perform puncture corresponding to the action.
Because the mechanical arm is adopted to execute the puncture operation, the user can not directly feel the resistance and the pressure of the puncture needle in the puncture process, and the puncture effect is affected.
Disclosure of Invention
The application mainly aims to provide a capacitive force feedback puncture needle and a capacitive force feedback puncture device, so that the problem that in the related art, when puncture operation is performed, the puncture needle cannot feed back force received in a puncture process to an operation end is solved.
In order to achieve the above object, the present application provides a capacitive force feedback puncture needle comprising:
the needle body is arranged in a hollow manner, and the inner side of the needle body is provided with a conductive part;
the electrode core is sleeved in the needle body;
the first insulating layer is arranged in the needle body and positioned between the electrode core and the conductive part so as to insulate the electrode core and the conductive part, and a capacitance gap is formed between the electrode core and the conductive part;
when the needle body is not pressed, the electrode core and the needle body are coaxially arranged, so that the capacitance gaps of the electrode core and the conductive part in the circumferential direction are the same;
the conductive part and the electrode core are both connected with electrode leads extending out of the needle body, the electrode leads are electrically connected with the capacitance detection module, capacitance change generated by capacitance gap change due to the fact that the needle body is deformed under pressure can be transmitted to the capacitance detection module, and the capacitance detection module determines output force corresponding to current capacitance change according to the relationship between the capacitance change calibrated in advance and the force.
Further, the first end of the electrode core extends towards the needle tip part of the needle body and is close to the needle tip part of the needle body;
the first end of the electrode core is set to be a thickened tip, and the diameter of the thickened tip is larger than that of the rest part of the electrode core, so that the capacitance gap between the thickened tip and the conducting part is smaller than that between the rest part and the conducting part.
Further, the thickening tip is provided in a spherical shape.
Further, a second insulating layer is arranged in the needle body, and the conductive part is an electrode plate fixedly arranged on the inner surface of the second insulating layer;
the conductive part is insulated from the needle body, and the capacitor gap is formed between the electrode plate and the electrode core;
the electrode slice with the electrode core all is used for with electric connection of electric capacity detection module, can with the electric capacity change that produces when the needle body receives the pressure deformation transmits for electric capacity detection module.
Furthermore, the electrode plates are arranged in a plurality of numbers, and the electrode plates are uniformly distributed on the inner side of the second insulating layer along the circumferential direction of the electrode core.
Further, the number of the electrode pieces is four or six or eight.
Further, the electrode plate is arranged to be an arc-shaped plate, and the length of the electrode plate is the same as that of the hollow portion of the needle body.
Furthermore, the first insulating layer is a first insulating sleeve sleeved on the electrode core, and the second insulating layer is a second insulating sleeve sleeved in the needle body.
According to another aspect of the present application, there is provided a capacitive force feedback lancing apparatus comprising: the device comprises a capacitance force feedback puncture needle and a capacitance detection module;
the capacitance detection module comprises a capacitance detection unit, a control unit, a calibration unit and a force feedback output unit;
the capacitance detection unit is electrically connected with the electrode core and the conductive part and is used for monitoring a capacitance change value between the deformation part of the conductive part and the electrode core when the needle body is deformed under pressure;
the calibration unit is used for calibrating capacitance change values generated by the needle body under different pressure conditions and force feedback values corresponding to the capacitance change values;
the control unit is electrically connected with the capacitance detection unit and the calibration unit and is used for receiving the capacitance change value acquired by the capacitance detection unit and acquiring a corresponding force feedback value from the calibration unit according to the capacitance change value;
the force feedback output unit is electrically connected with the control unit and used for receiving the force feedback value and controlling the operation end to output corresponding force feedback.
Further, the device also comprises a frequency metering circuit;
the capacitance detection unit is set as a capacitance oscillation circuit which is electrically connected with the electrode core and the conductive part and is used for monitoring a pulse signal generated between the deformation part of the conductive part and the electrode core due to capacitance change when the needle body is deformed under pressure;
the frequency metering circuit is connected with the capacitance detection unit and used for receiving the pulse signal and generating a pulse frequency value according to the pulse signal;
the calibration unit is used for calibrating a pulse frequency value generated by capacitance change of the needle body under different pressure conditions and a force feedback value corresponding to the pulse frequency value;
the control unit is electrically connected with the frequency metering circuit and the calibration unit and is used for receiving the pulse frequency value generated by the frequency metering circuit and acquiring a corresponding force feedback value from the calibration unit according to the pulse frequency value;
the force feedback output unit is electrically connected with the control unit and used for receiving the force feedback value and controlling the operation end to output corresponding force feedback.
In the embodiment of the application, a needle body is arranged, the inside of the needle body is arranged in a hollow manner, and the inner side of the needle body is provided with a conductive part; the electrode core is sleeved in the needle body; the first insulating layer is arranged in the needle body and positioned between the electrode core and the conductive part so as to insulate the electrode core and the conductive part, and a capacitance gap is formed between the electrode core and the conductive part; the electric conduction part and the electrode core are electrically connected with the electric capacitance detection module, and can transmit the electric capacitance change generated when the needle body is pressed and deformed to the electric capacitance detection module, so that a bipolar plate capacitance structure is formed in the needle body by the electric conduction part and the electrode core, in the puncturing process, the needle body is deformed and bent due to the resistance action of the needle body, the capacitance gap between the electrode core and the electric conduction part is changed, the capacitance change is monitored by the electric capacitance detection module, and the stress condition of the needle body is reflected, so that the technical effect that the stress change of the needle body is converted into the capacitance change in the puncturing process, the force feedback output is carried out according to the capacitance change is achieved, and the problem that in the related technology, when the puncturing operation is carried out, the puncturing needle cannot feed the force received in the puncturing process back to the operation end is solved.
The needle design utilizes the self needle inner cavity structure, the stress measurement of the puncture needle is efficiently realized, other additional parts are not required to be introduced, the needle can be realized only through a metal structure and an insulation structure, the outer electrode is easy to realize equipotential connection, the anti-interference capability is strong, the capacitance structure is surrounded by a metal shell and is not invaded by punctured tissue liquid and the like, the structure is stable, safe and reliable, the force feedback sensitivity is high, the force feedback signal is continuous, the signal connecting wire is simple, after the spherical design of the tip end of the electrode core is added, the sensitivity of the needle tip part is greatly increased, meanwhile, the position of the spherical structure of the electrode core can be changed according to the sensitivity requirement of the specific part of the needle body, the highest sensitivity of a certain needle body position is reached, meanwhile, after the multi-outer electrode structure is added, the measurement of the stress needle body direction is realized, the vector force feedback measurement capability is realized, and the capacitance measurement between the outer electrodes in different directions and the electrode core is realized, the signals are decomposed and analyzed, and the measurement and analysis of the stress direction and the posture of the needle body can be realized.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
FIG. 1 is a schematic diagram of a structure according to an embodiment of the present application;
FIG. 2 is a schematic diagram illustrating deformation of a pin body according to an embodiment of the present application;
FIG. 3 is a schematic structural diagram according to another embodiment of the present application;
FIG. 4 is a schematic view of the deformation of a needle body according to another embodiment of the present application;
FIG. 5 is a schematic structural diagram according to another embodiment of the present application;
FIG. 6 is a schematic view of the deformation of a needle body according to another embodiment of the present application;
FIG. 7 is a schematic cross-sectional view A-A of FIG. 5;
FIG. 8 is a schematic cross-sectional view of B-B in FIG. 6;
FIG. 9 is a cross sectional view of another embodiment of a needle deformation in accordance with the present application;
FIG. 10 is a schematic cross-sectional view of an electrode sheet according to another embodiment of the present application;
FIG. 11 is a schematic diagram of the structure of a capacitive force feedback lancing apparatus according to the present application;
FIG. 12 is a schematic diagram of a capacitive sensing module according to the present application;
the electrode comprises an electrode core 1, a thickened tip 101, a first insulating layer 2, a needle body 3, a needle tip portion 301, a capacitance gap 4, a conductive portion 5, an electrode plate 501, an electrode lead 6, a second insulating layer 7, a capacitance detection module 8, a force feedback output unit 81, a calibration unit 82, a control unit 83, a frequency metering circuit 84, a capacitance detection unit 85 and a capacitance oscillation circuit 851.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used.
In this application, the terms "upper", "lower", "inside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used in other meanings besides orientation or positional relationship, for example, the term "upper" may also be used in some cases to indicate a certain attaching or connecting relationship. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "disposed," "provided," "connected," "secured," and the like are to be construed broadly. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In addition, the term "plurality" shall mean two as well as more than two.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In puncture treatment, a mechanical arm is often used for remote control, and a user controls a multi-degree-of-freedom manipulator at an operation end to control the mechanical arm to synchronously act and drive a puncture needle positioned at an end effector of the mechanical arm to perform puncture corresponding to the action.
Because the mechanical arm is adopted to execute the puncture operation, the user can not directly feel the resistance and the pressure of the puncture needle in the puncture process, and the puncture effect is affected.
To this end, as shown in fig. 1 to 2, an embodiment of the present application provides a capacitive force feedback puncture needle including:
the needle body 3, the inside of the needle body 3 is hollow, the inside of the needle body 3 has conducting parts 5;
the electrode core 1 is sleeved in the needle body 3;
a first insulating layer 2 which is arranged in the needle body 3 and is positioned between the electrode core 1 and the conductive part 5 so as to insulate the electrode core 1 and the conductive part 5, and a capacitance gap 4 is arranged between the electrode core 1 and the conductive part 5;
the conductive part 5 and the electrode core 1 are both used for being electrically connected with the capacitance detection module 8, and capacitance change generated by the change of the capacitance gap 4 caused by the compression deformation of the needle body 3 can be transmitted to the capacitance detection module 8.
In this embodiment, the capacitive force feedback puncture needle mainly comprises a needle body 3, an electrode core 1 and a first insulating layer 2, wherein the needle body 3 is a hollow needle body, and a cylindrical hollow cavity is formed inside the hollow needle body. The electrode core 1 is sleeved in the needle body 3 and is positioned in the hollow cavity. The conductive part 5 is provided inside the needle body 3, and the conductive part 5 may be a partial structure of the needle body 3 itself or a conductive structure separately provided in the needle body 3. When the needle body 3 is made of a conductive material, such as stainless steel, it itself forms the conductive portion 5.
Since it is necessary to form a capacitor structure of a double electrode, it is necessary to maintain the insulating arrangement between the electrode core 1 and the conductive part 5, and therefore, in this embodiment, the first insulating layer 2 is further provided in the needle body 3, and the first insulating layer 2 may be fixed to the inner side of the needle body 3 or may be fixed to the surface of the electrode core 1. In this embodiment, the first insulating layer 2 is provided on the surface of the electrode core 1. The electrode core 1 and the conductive portion 5 have a certain gap therebetween, that is, a capacitor gap 4 for forming a capacitor. When the needle body 3 is not under pressure, the electrode core 1 is arranged coaxially with the needle body 3, i.e. the gap between the electrode core 1 and the conductive part 5 in the circumferential direction remains the same (as shown in fig. 1). Because the conductive part 5 is fixed on the inner side of the needle body 3, the conductive part 5 is deformed when the needle body 3 is pressed and deformed, and the electrode core 1 is not in direct contact with the deformed part of the needle body 3 in the puncturing process, so that the deformation of the needle body 3 does not affect the electrode core 1, that is, when the needle body 3 and the conductive part 5 are deformed, the gap between the electrode core 1 and the conductive part 5 is changed (as shown in fig. 2). When the capacitance gap 4 is at the maximum, the capacitance between the electrode core 1 and the conductive portion 5 is at the minimum, and when the capacitance gap 4 is smaller, the capacitance between the electrode core 1 and the conductive portion 5 is increased.
When in use, in order to detect the capacitance change, in this embodiment, the conductive portion 5 is connected to one electrode lead 6, one end of the electrode core 1 also extends out of the needle body 3 and is connected to one electrode lead 6, and the two electrode leads 6 are connected to the capacitance detection module 8. The capacitance detection module 8 is used for monitoring the capacitance change between the electrode core 1 and the conductive part 5 in the puncture process, and the capacitance change is generated by the blocked deformation of the needle body 3 in the puncture process, so that the output force corresponding to the current capacitance change is determined according to the relationship between the pre-calibrated capacitance change and the force after the capacitance change is obtained. The operation end can obtain the magnitude of the output force and then can apply force feedback with corresponding magnitude to a user.
This embodiment has reached and has formed bipolar plate electric capacity structure by conductive part 5 and electrode core 1 in the needle body 3, in the puncture process, because needle body 3 meets the effect of resistance and causes the needle body 3 to warp crooked, lead to the electric capacity clearance 4 between electrode core 1 and the conductive part 5 to change (as shown in fig. 2), the electric capacity change is monitored by electric capacity detection module 8, reflect the purpose of the needle body 3 atress condition, thereby realized changing the atress change of needle body 3 into electric capacity change at the puncture in-process, carry out the technological effect of force feedback output according to electric capacity change, and then when carrying out the puncture operation among the relevant technology, the pjncture needle can't feed back the power that receives to the problem of operation end with the puncture in-process.
In the embodiment, the transmission of the compression deformation signal of the needle body 3 is realized by the conductive part 5 and the electrode core 1 in the needle body 3, which is equivalent to other monitoring means, so that the whole device has smaller volume and more accurate monitoring result. Meanwhile, a force feedback structure (such as a motor applying feedback acting force) is not required to be arranged on the mechanical arm for executing puncture, and the output force feedback of the operation end can be directly controlled according to the capacitance change condition in the needle body 3, so that the cost of the whole device is greatly reduced, and the monitoring sensitivity is also improved.
In order to make the whole structure of the puncture needle be a closed structure, one end of the needle body 3 far away from the needle tip part 301 is provided with a plug structure, the electrode core 1 arranged with the first insulating layer 2 penetrates through the plug structure, and is arranged in a sealing way at the joint of the electrode core and the plug structure.
In the actual puncture process, the force feedback caused by the blockage of the needle tip 301 of the puncture needle is particularly important, so that the electrode core 1 is further improved in the embodiment, and the reflecting sensitivity of the position corresponding to the needle tip 301 of the needle body 3 is improved.
In order to improve the force feedback sensitivity of the portion corresponding to the needle tip portion 301 of the needle body 3, it is necessary to improve the monitoring sensitivity of the capacitance change value of the portion. Therefore, as shown in fig. 3 to 4, the first end of the electrode core 1 in the present embodiment extends toward the needle tip portion 301 of the needle body 3 and is proximate to the needle tip portion 301 of the needle body 3; the first end of the electrode core 1 is provided as a thickened tip 101, the diameter of the thickened tip 101 being larger than the remainder of the electrode core 1, such that the capacitive gap 4 between the thickened tip 101 and the conductive portion 5 is smaller than the capacitive gap 4 between the remainder and the conductive portion 5.
Specifically, it should be noted that the present embodiment improves the straight electrode core 1 into a structure with a thickened tip 101 with an increased diameter at the end, and the gap between the surface of the first insulating layer 2 and the conductive portion 5 is kept unchanged. As the diameter of this portion of the electrode core 1 increases, the spacing between this portion and the conductive portion 5 decreases, i.e. the capacitive gap 4 decreases (as shown in figures 3 and 4). The capacitance change caused by the pressure deformation of the needle tip part 301 of the needle body 3 is more sensitive, and the detection effect of the stress of the needle tip part 301 is convenient to strengthen.
It can be understood that the thickened tip 101 is provided on the electrode core 1 in order to reduce the distance from the tip portion 301 of the needle body 3, i.e., to reduce the capacitance gap 4, and thus the thickened tip 101 has various arrangements. For example, as shown in fig. 3, the thickening tip 101 is provided in a spherical shape, a conical shape, a cylindrical shape, a truncated cone shape, or the like. In this embodiment it is preferably provided in a spherical shape.
Because the conductive part 5 in the needle body 3 covers in the whole circumference of needle body 3, consequently all can produce corresponding electric capacity change when arbitrary department pressurized deformation of needle body 3, lead to the specific direction that the unable accurate judgement needle body 3 of user produced deformation. For this reason, the present embodiment further improves the conductive portion 5 in the needle body 3. The method comprises the following specific steps:
as shown in fig. 5 to 8, in the present embodiment, a second insulating layer 7 is disposed in the needle body 3, and the conductive portion 5 is an electrode sheet 501 fixedly disposed on an inner surface of the second insulating layer 7;
the conductive part 5 is insulated from the needle body 3, and a capacitance gap 4 is formed between the electrode plate 501 and the first insulating layer 2;
Specifically, in the present embodiment, the conductive portion 5 is provided as an electrode plate 501 attached to the inside of the needle body 3, and the electrode plate 501 and the needle body 3 are insulated from each other by the second insulating layer 7. In the present embodiment, the needle 3 itself is not used as a part of the dual electrode plate, but the electrode sheet 501 is used as a part of the dual electrode plate. A certain distance is reserved between the electrode plate 501 and the electrode core 1 to form the capacitor gap 4, and the electrode plate 501 and the electrode core 1 positioned in the needle body 3 form a double-electrode plate structure. Therefore, in this embodiment, the electrode plate 501 and the electrode core 1 are electrically connected to the capacitance detection module 8 through a conducting wire, and the capacitance detection module 8 detects a capacitance change between the electrode plate 501 and the electrode core 1 when the needle body 3 is deformed by pressure.
Because electrode slice 501 distributes in the partial position of needle body 3, only can lead to electrode slice 501 and electrode core 1 between the electric capacity clearance 4 to change when the needle body 3 produces deformation with the position that electrode slice 501 corresponds, and then can lead to electric capacity detection module 8 to detect the electric capacity change, just then can realize the output of force feedback through this electric capacity change. Therefore, in the present embodiment, the electrode sheet 501 is provided in plurality, and the plurality of electrode sheets 501 are uniformly distributed on the inner side of the second insulating layer 7 in the circumferential direction of the electrode core 1. Through demarcating the position of electrode slice 501 for can obtain the direction that needle body 3 pressed the deformation according to the signal of specific electrode slice 501 output in puncture process, be convenient for better realization force feedback's output.
More specifically, as shown in fig. 7 to 10, in the present embodiment, the number of electrode pads 501 is four, six, or eight, and when four, capacitance change values caused by orthogonal decomposition into four directions can be acquired, and when six or eight, capacitance change values in more directions can be acquired. Four-dimensional (or multi-dimensional) capacitive force feedback measurements may be formed by the placement of electrode pads 501.
This structure shows that the lower part of the needle body 3 is deformed and the capacitance gap 4 between the lower part of the needle body 3 and the electrode core 1 is reduced as shown in fig. 8, and the structure shows that the right side of the needle body 3 is deformed and the capacitance gap 4 between the right side of the needle body 3 and the electrode core 1 is reduced as shown in fig. 9.
In order to improve the fitting degree of the electrode plate 501 and the inner surface of the needle body 3, so that the deformation of the needle body 3 is unified with the deformation of the electrode plate 501, in this embodiment, the electrode plate 501 is an arc-shaped plate, and the length of the electrode plate 501 is the same as that of the hollow part of the needle body 3.
As shown in fig. 7, the first insulating layer 2 is a first insulating sleeve covering the electrode core 1, the second insulating layer 7 is a second insulating sleeve covering the needle body 3, and both the first insulating sleeve and the second insulating sleeve can be made of insulating materials or insulating coatings coated on the surface of the electrode core 1 or the inner surface of the needle body 3.
When the capacitive force feedback puncture needle is installed on a puncture device for use, a capacitive detection device and a force output device for outputting stress feedback according to the change condition of capacitance need to be matched and connected, so the puncture device is specifically stated in the embodiment:
as shown in fig. 11, according to another aspect of the present application, there is provided a capacitive force feedback lancing apparatus comprising: a capacitance force feedback puncture needle and a capacitance detection module 8;
the capacitance detection module 8 comprises a capacitance detection unit 85, a control unit 83, a calibration unit 82 and a force feedback output unit;
the capacitance detection unit 85 is electrically connected with the electrode core 1 and the conductive part 5 and is used for monitoring a capacitance change value between the conductive part and the electrode core 1 at a deformation position when the needle body 3 is deformed under pressure;
the calibration unit 82 is used for calibrating capacitance change values generated by the needle body 3 under different pressure conditions and force feedback values corresponding to the capacitance change values;
the control unit 83 is electrically connected to the capacitance detection unit 85 and the calibration unit 82, and is configured to receive the capacitance change value obtained by the capacitance detection unit 83, and obtain a corresponding force feedback value from the calibration unit 82 according to the capacitance change value;
the force feedback output unit 81 is electrically connected to the control unit 83, and is configured to receive the force feedback value and control the operation end to output corresponding force feedback.
In this embodiment, the puncture device mainly includes a capacitive force feedback puncture needle and a capacitive detection module 8, so that the capacitive detection module 8 is mainly responsible for acquiring a capacitance change condition generated when the needle body 3 of the puncture needle is deformed by pressure, acquiring a force feedback value matched with the capacitance change condition, and outputting the force feedback value to the operation end, so that the operation end performs corresponding force feedback.
Specifically, the capacitance detection module 8 is composed of a capacitance detection unit 85, a control unit 83, a calibration unit 82 and a force feedback output unit 81. The control unit 83 is a core control part, and has a signal input end electrically connected to the capacitance detection unit 85 and the calibration unit 82, and a signal output end electrically connected to the force feedback output unit 81. The capacitance detection unit 85 is a detection unit directly connected to the conductive portion 5 and the electrode core 1 in the needle body 3, and can acquire a capacitance change value generated by deformation of the needle body 3 when the deformation is applied, and transmit the capacitance change value to the control unit 83. The calibration unit 82 calibrates the deformation information and the capacitance change of the needle body 3 before puncturing. Each capacitance change represents the stress deformation condition of at least one needle body 3, and the stress deformation condition contains two kinds of information, namely the stress size of the needle body 3 and the deformation amplitude (i.e., the force feedback value) of the needle body 3. Therefore, when the control unit 83 receives a capacitance change value, the force feedback value corresponding to the capacitance change value can be found from the calibration unit 82, and the force feedback value is transmitted to the operation terminal, and the operation terminal can output corresponding force feedback after receiving the force feedback value. The user feels a force feedback corresponding to the needle body 3 through the operation end.
As shown in FIG. 12, in another embodiment, the capacitive force feedback lancing apparatus further includes a frequency metering circuit 84;
the capacitance detection unit 85 is arranged as a capacitance oscillation circuit 851, the capacitance oscillation circuit 851 is electrically connected with the electrode core 1 and the conductive part 5, and is used for monitoring a pulse signal generated between the conductive part and the electrode core 1 due to capacitance change at a deformation position when the needle body 3 is deformed under pressure;
the frequency metering circuit 84 is connected to the capacitance detecting unit 85, and is configured to receive the pulse signal and generate a pulse frequency value according to the pulse signal;
the calibration unit 82 is used for calibrating a pulse frequency value generated by capacitance change of the needle body 3 under different pressure conditions and a force feedback value corresponding to the pulse frequency value;
the control unit 83 is electrically connected to the frequency metering circuit 84 and the calibration unit 82, and is configured to receive the pulse frequency value generated by the frequency metering circuit 84, and obtain a corresponding force feedback value from the calibration unit 82 according to the pulse frequency value;
the force feedback output unit 81 is electrically connected to the control unit 83, and is configured to receive the force feedback value and control the operation end to output corresponding force feedback.
In this embodiment, the capacitive force feedback puncturing apparatus is further described, in which the capacitive detection unit 85 is provided as a capacitive oscillation circuit 851, and pulse signals of different frequencies are generated by capacitance value changes after the conductive portion 5 and the electrode core 1 in the needle body 3 are connected, and the pulse frequency value of each pulse signal is measured by the frequency measuring circuit 84. The calibration unit 82 is a calibration frequency value and a force feedback value, and the control unit 83 acquires the pulse frequency value of the pulse signal, then acquires the force feedback value corresponding to the pulse frequency value from the calibration unit 82, and transmits the force feedback value to the operation end for outputting the force feedback.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (6)
1. A capacitive force feedback lancet, comprising:
the needle body is arranged in a hollow manner, and the inner side of the needle body is provided with a conductive part;
the electrode core is sleeved in the needle body;
the first insulating layer is arranged in the needle body and positioned between the electrode core and the conductive part so as to insulate the electrode core and the conductive part, and a capacitance gap is formed between the electrode core and the conductive part;
when the needle body is not pressed, the electrode core and the needle body are coaxially arranged, so that the capacitance gaps of the electrode core and the conductive part in the circumferential direction are the same;
the conductive part and the electrode core are both connected with electrode leads extending out of the needle body, the electrode leads are electrically connected with the capacitance detection module, capacitance change generated by capacitance gap change caused by the needle body being deformed under pressure can be transmitted to the capacitance detection module, and the capacitance detection module determines output force corresponding to the current capacitance change according to the relationship between the capacitance change and force calibrated in advance; the first end of the electrode core extends towards the needle tip part of the needle body and is close to the needle tip part of the needle body;
the first end of the electrode core is arranged to be a thickened tip, the diameter of the thickened tip is larger than that of the rest part of the electrode core, so that a capacitance gap between the thickened tip and the conductive part is smaller than that between the rest part of the electrode core and the conductive part; the thickening tip is arranged to be spherical.
2. The capacitive force feedback lancet needle of claim 1, wherein a second insulating layer is disposed within the needle body, and the conductive portion is an electrode pad secured to an inner surface of the second insulating layer;
the conductive part is insulated from the needle body, and the capacitor gap is formed between the electrode plate and the electrode core;
the electrode slice with the electrode core all is used for with electric connection of electric capacity detection module, can with the electric capacity change that produces when the needle body receives the pressure deformation transmits for electric capacity detection module.
3. The capacitive force feedback puncture needle according to claim 2, wherein the electrode plate is provided as an arc-shaped plate, and the length of the electrode plate is the same as the length of the hollow portion of the needle body.
4. The capacitive force feedback lancet of claim 3, wherein said first insulating layer is a first insulating sheath disposed over said electrode core and said second insulating layer is a second insulating sheath disposed within said needle body.
5. A capacitive force feedback lancing apparatus comprising a capacitive force feedback lancet according to any one of claims 1 to 4 and a capacitive sensing module;
the capacitance detection module comprises a capacitance detection unit, a control unit, a calibration unit and a force feedback output unit;
the capacitance detection unit is electrically connected with the electrode core and the conductive part and is used for monitoring a capacitance change value between the deformation part of the conductive part and the electrode core when the needle body is deformed under pressure;
the calibration unit is used for calibrating capacitance change values generated by the needle body under different pressure conditions and force feedback values corresponding to the capacitance change values;
the control unit is electrically connected with the capacitance detection unit and the calibration unit and is used for receiving the capacitance change value acquired by the capacitance detection unit and acquiring a corresponding force feedback value from the calibration unit according to the capacitance change value;
the force feedback output unit is electrically connected with the control unit and used for receiving the force feedback value and controlling the operation end to output corresponding force feedback.
6. The capacitive force feedback lancing apparatus of claim 5, further comprising a frequency metering circuit;
the capacitance detection unit is set as a capacitance oscillation circuit which is electrically connected with the electrode core and the conductive part and is used for monitoring a pulse signal generated between the deformation part of the conductive part and the electrode core due to capacitance change when the needle body is deformed under pressure;
the frequency metering circuit is connected with the capacitance detection unit and used for receiving the pulse signal and generating a pulse frequency value according to the pulse signal;
the calibration unit is used for calibrating a pulse frequency value generated by capacitance change of the needle body under different pressure conditions and a force feedback value corresponding to the pulse frequency value;
the control unit is electrically connected with the frequency metering circuit and the calibration unit and is used for receiving the pulse frequency value generated by the frequency metering circuit and acquiring a corresponding force feedback value from the calibration unit according to the pulse frequency value;
the force feedback output unit is electrically connected with the control unit and used for receiving the force feedback value and controlling the operation end to output corresponding force feedback.
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| CN116549113A (en) * | 2023-05-12 | 2023-08-08 | 北京长木谷医疗科技股份有限公司 | Intelligent optical positioning system of surgical robot |
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