CN114890236A - Digital detection device and method for tension of transmission steel wire of surgical robot - Google Patents
Digital detection device and method for tension of transmission steel wire of surgical robot Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H63/00—Warning or safety devices, e.g. automatic fault detectors, stop-motions ; Quality control of the package
- B65H63/02—Warning or safety devices, e.g. automatic fault detectors, stop-motions ; Quality control of the package responsive to reduction in material tension, failure of supply, or breakage, of material
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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
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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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
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H63/00—Warning or safety devices, e.g. automatic fault detectors, stop-motions ; Quality control of the package
- B65H63/04—Warning or safety devices, e.g. automatic fault detectors, stop-motions ; Quality control of the package responsive to excessive tension or irregular operation of apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
Abstract
The invention discloses a digital detection device for tension of a transmission steel wire of a surgical robot, which comprises a device body, wherein a steel wire tension sensor, a displacement sensor, a microcontroller and a display screen are arranged on the device body, the microcontroller is respectively and electrically connected with the steel wire tension sensor, the displacement sensor and the display screen, a sensing pointer extends out of the steel wire tension sensor towards the front of the device body, the steel wire tension sensor can detect the tension through the sensing pointer, the displacement sensor can detect the displacement of the sensing pointer, the display screen can display the tension, the microcontroller can preset the displacement of the sensing pointer, and the tension of the steel wire tension sensor is locked and displayed on the display screen after the displacement of the sensing pointer reaches a preset value. Also discloses a detection method for detecting by using the device. The invention has simple structure, convenient use and high detection precision and reliability, and is suitable for the daily detection and maintenance work of the wire-driven surgical robot.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a digital detection device and method for tension of a transmission steel wire of a surgical robot.
Background
With the development of precision and minimally invasive surgery, more and more medical institutions are introducing surgical robots. Compared with the traditional operation, the combination of the doctor and the robot breaks through the problem that the traditional endoscope instrument cannot turn and the deep blood vessel suture cannot be completely accurate, and the synchronous reduction of the problems of blood loss, tissue trauma, inflammatory reaction and the like is realized on the basis of ensuring the flexibility and the stability. The development of the surgical robot greatly improves the magnitude of surgical precision, and brings the technology of surgical experts into full play. The imaging system can enlarge the operation visual field of the doctor of the main knife by more than ten times, which is beneficial to clearly identifying the tissue structure; the multi-axis mechanism is designed to enable the freedom degree of movement of the multi-axis mechanism to be larger than that of a hand joint, so that the operation can be performed from more angles; the high-precision mechanical sensing, control and jitter elimination technology enables the minimally invasive surgery to be more accurate and stable.
Once a mechanical arm of the surgical robot breaks down, the mechanical arm can greatly cause the surgical instrument to scratch normal tissues or cause other injuries, so that the performance parameters of the mechanical arm are the first high risk parameters of the wire-driven surgical robot, the transmission steel wire plays the role of power transmission of the mechanical arm, and the tension of the transmission steel wire has important influence on the transmission precision. Therefore, wire tension of a wire driven robot is one of the most important parameters for quality control thereof.
The magic surgical robot is a wire-driven surgical robot, when tension detection is carried out on steel wires of the robot, the conventional method in China at present is to use a pointer type dynamometer to carry out manual measurement, the measurement method is to use dynamometers with different measuring ranges for different steel wires to carry out measurement, the dynamometer is used to push the steel wire to be detected to be attached to the adjacent steel wire, and the measured value of the dynamometer just attached is recorded as the tension value of the steel wire. However, there are some disadvantages to this approach: (1) the instrument adopts a mechanical pointer display mode, and a tester needs to determine the force according to the position of a mechanical pointer of the dynamometer, so that certain measurement error can be caused by the influence of the measurement position and the posture of an observer; (2) the steel wire is moved to the moment of appointed displacement (the steel wire to be detected just touches the adjacent steel wire) by a force measuring component of the force measuring meter and the tension value on the force measuring meter is read, so that the subjective judgment is not accurate, and the tension measuring error of the steel wire can be further caused; (3) the force gauges with different ranges need to be switched for different steel wires, and the complexity of the operation is increased by measuring for many times in order to reduce operation errors. The foreign measurement method for the tension of the steel wire of the surgical robot also adopts a pointer type dynamometer to detect, and the steel wire adopts a mode of transversely fixing two ends and suspending a heavy object in the middle to measure the tension. Not only do these measurements affect the accuracy of the control of the tension of the wire, but they also increase the complexity and difficulty of the measurement procedure.
Disclosure of Invention
Aiming at the defects in the prior art, the technical problems to be solved by the invention are as follows: how to provide a digital detection device of operation robot transmission steel wire tension that easy operation is convenient, measures accurate reliable.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a tensile digital detection device of surgical robot transmission steel wire, the device comprises a device body, install steel wire tension sensor on the device body, displacement sensor, microcontroller and display screen, microcontroller respectively with steel wire tension sensor, displacement sensor and display screen electricity are connected, steel wire tension sensor stretches out towards device body the place ahead has a sensing pointer, steel wire tension sensor can detect the tension size through the sensing pointer, displacement sensor can detect the displacement size of sensing pointer, the display screen can show the tension value size, microcontroller can predetermine the displacement volume of sensing pointer, and lock steel wire tension sensor's tension value and show at the display screen after the sensing pointer displacement volume reaches the default.
And as optimization, a displacement indicator lamp is further installed on the device body and electrically connected with the microcontroller, and when the displacement sensor detects that the displacement of the sensing pointer reaches a preset value, the microcontroller controls to light the displacement indicator lamp.
Preferably, the device body is convexly provided with a handle for facilitating the holding of an operator.
The invention also discloses a digital detection method for the tension of the transmission steel wire of the surgical robot, which comprises the following steps:
(1) acquiring the digital detection device for the tension of the transmission steel wire of the surgical robot, and presetting a displacement value of a sensing pointer in a microcontroller according to the distance between the steel wire to be detected and an adjacent steel wire;
(2) then, operating the device body, enabling the sensing pointer to move towards the direction of the steel wire to be detected in a translation mode, and when the sensing pointer contacts the steel wire to be detected and triggers the steel wire tension sensor to work, starting the displacement sensor to work, and continuously translating to stir the steel wire to be detected;
(3) and when the translation distance of the sensing pointer reaches a preset displacement value of the microcontroller, the microcontroller locks the tension value detected by the steel wire tension sensor at the moment and displays the tension value on the display screen, and the measurement is finished.
As optimization, install the displacement indicator lamp on the device body, the displacement indicator lamp with microcontroller electricity is connected, works as sensing pointer translation distance reaches after microcontroller's the displacement value of predetermineeing, microcontroller control lights the displacement indicator lamp, and the suggestion is measured and is ended.
As optimization, when the translation distance of the sensing pointer does not reach the preset displacement value of the microcontroller and the tension value detected by the steel wire tension sensor is reduced, the microcontroller controls the display screen to display the 'NA' character, and measurement needs to be carried out again.
Compared with the prior art, the invention has the following beneficial effects: the invention has simple structure, convenient use and high detection precision and reliability, is suitable for the daily detection and maintenance work of the wire-driven surgical robot and ensures the normal use of the surgical robot.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a flow chart of the detection method of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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 invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined. In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The digital detection device for the tension of the transmission steel wire of the surgical robot in the specific embodiment comprises a device body 1, a steel wire tension sensor 2 is installed on the device body 1, a displacement sensor 3, a microcontroller and a display screen 4, the microcontroller is respectively connected with the steel wire tension sensor 2, the displacement sensor 3 is electrically connected with the display screen 4, a sensing pointer is extended out from the steel wire tension sensor 2 towards the front of the device body 1, the steel wire tension sensor 3 can detect the tension through the sensing pointer, the displacement sensor 3 can detect the displacement of the sensing pointer, the display screen 4 can display the tension, the microcontroller can preset the displacement of the sensing pointer, and the tension value of the steel wire tension sensor 2 is locked after the displacement of the sensing pointer reaches a preset value and is displayed on the display screen 4.
In this specific embodiment, still install displacement indicator 5 on the device body 1, displacement indicator 5 with microcontroller electricity is connected, and after displacement sensor 3 detected the displacement volume of sensing pointer reaches the default, microcontroller control lighted displacement indicator 5.
In this embodiment, the device body 1 is formed with a protruding handle for an operator to hold.
The displacement sensor 3 has the main function that the displacement sensor 3 is triggered to work when the steel wire tension sensor 2 contacts the steel wire, and when the sensing pointer moves to a steel wire space (the distance between adjacent steel wires of the surgical robot is measured on the spot), the displacement of the steel wire pushed by the sensing pointer at the front end of the steel wire tension sensor 2 is measured and is output to the microcontroller through an electric signal.
According to the functional requirements, the displacement sensor 3 needs to have a non-contact measurement function and high displacement resolution, so that a laser displacement sensor can be selected, a red semiconductor laser is used as a light source, the non-contact measurement requirement is met, the highest displacement resolution can reach 0.5 mu m, the temperature sensor has lower linearity (+/-0.1%) and better temperature characteristic (+/-0.08%/° C), the sampling rate is selectable in multiple stages, and the measurement requirement of the displacement of the steel wire in the embodiment is effectively met. And the weight is light, which is beneficial to the light weight of the product.
The steel wire tension sensor 2 mainly has the functions of measuring the tension generated when the steel wire generates the specified displacement, outputting an electric signal to the microcontroller, and carrying out subsequent related data processing, system control and display work by the microcontroller.
According to relevant functional requirements, the wire tension sensing range of the wire drive robot is in the range of 0-250g (corresponding to 0-2.45N), and the wire drive robot has the characteristics of high precision, good linearity and low hysteresis rate. The measuring range of the cantilever beam type force sensor can be selected to be 0-5N, so that the measuring range requirement is met; the accuracy of the sensor is +/-0.1%, and the high-precision requirement is met; the nonlinearity and the hysteresis are 0.1%, and the high-linearity and low-hysteresis-rate characteristics are achieved, so that the applicability, the stability and the safety of the high-linearity and low-hysteresis-rate characteristics are effectively guaranteed.
The microcontroller has the main functions of receiving the electric signals output by the steel wire tension sensor and the displacement sensor, and performing data collection, operation processing, output display and corresponding output control.
According to the requirements of related functions, the microcontroller can select an MSP430 series single chip microcomputer, the MSP430 series single chip microcomputer is a 16-bit single chip microcomputer, a simplified instruction set structure is adopted, the addressing mode is rich, the strong processing capability is achieved, and the strong processing capability of the product can be effectively guaranteed. Secondly, the MSP430 series single-chip microcomputer integrates abundant on-chip and peripheral devices, such as a liquid crystal driver, a Basic Timer (Basic Timer), a real-time clock (RTC), a USB controller and the like, and particularly, the on-chip analog-to-digital converter (ADC) enables developers to select an off-chip analog-to-digital conversion chip and different combinations of a plurality of on-chip and peripheral modules without additional use, so that the MSP430 series single-chip microcomputer has abundant use functions and can effectively guarantee the requirements of functional modules of products. The MSP430 series single chip microcomputer can realize algorithm digital signal processing such as FFT (fast Fourier transform) under the coordination of 16-bit data width, 40ns instruction period and a multifunctional hardware multiplier (capable of realizing multiplication and addition operation), has higher operation speed and can effectively guarantee the reaction speed of products. The series of single-chip microcomputers are low in power consumption, so that the overall power consumption of the detection equipment is controlled.
A digital detection method for tension of a transmission steel wire of a surgical robot comprises the following steps:
(1) acquiring the digital detection device for the tension of the transmission steel wire of the surgical robot, and presetting a displacement value of a sensing pointer in a microcontroller according to the distance between the steel wire to be detected and an adjacent steel wire;
(2) then, the device body 1 is operated, the sensing pointer moves towards the direction of the steel wire to be detected in a translation mode, when the sensing pointer contacts the steel wire to be detected and triggers the steel wire tension sensor 2 to work, the displacement sensor 3 starts to work, and the steel wire to be detected is shifted in a continuous translation mode;
(3) and when the translation distance of the sensing pointer reaches a preset displacement value of the microcontroller, the microcontroller locks the tension value detected by the steel wire tension sensor 2 at the moment and displays the tension value on the display screen 4, and the measurement is finished.
In this embodiment, 1 installs displacement indicator 5 on the device body, displacement indicator 5 with the microcontroller electricity is connected, works as sensing pointer translation distance reaches after microcontroller's the displacement value of predetermineeing, microcontroller control lights displacement indicator 5, and the suggestion is measured and is ended.
In this specific embodiment, when the translation distance of the sensing pointer does not reach the preset displacement value of the microcontroller and the tension value detected by the steel wire tension sensor 2 decreases, the microcontroller controls the display screen to display the "NA" character, and the measurement needs to be performed again.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and those skilled in the art should understand that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all that should be covered by the claims of the present invention.
Claims (6)
1. The utility model provides a tensile digital detection device of surgical robot transmission steel wire which characterized in that: the device comprises a device body, install steel wire tension sensor on the device body, displacement sensor, microcontroller and display screen, microcontroller respectively with steel wire tension sensor, displacement sensor and display screen electricity are connected, steel wire tension sensor stretches out towards device body the place ahead and has a sensing pointer, steel wire tension sensor can detect the tension size through the sensing pointer, displacement sensor can detect the displacement size of sensing pointer, the display screen can show the tension value size, microcontroller can predetermine the displacement volume of sensing pointer, and the tension value of locking steel wire tension sensor after the sensing pointer displacement volume reaches the default shows at the display screen demonstration.
2. The digital detection device of surgical robot transmission wire tension according to claim 1, characterized in that: the device body is further provided with a displacement indicator lamp, the displacement indicator lamp is electrically connected with the microcontroller, and when the displacement sensor detects that the displacement of the sensing pointer reaches a preset value, the microcontroller controls to light the displacement indicator lamp.
3. The digital detection device of surgical robot transmission wire tension according to claim 1, characterized in that: the device body is convexly provided with a handle which is convenient for an operator to hold.
4. A digital detection method for tension of a transmission steel wire of a surgical robot is characterized by comprising the following steps: the method comprises the following steps:
(1) the digital detection device for acquiring the tension of the transmission steel wire of the surgical robot as claimed in claim 1, wherein a displacement value of a sensing pointer is preset in a microcontroller according to the distance between a steel wire to be detected and an adjacent steel wire;
(2) then, operating the device body, enabling the sensing pointer to move towards the direction of the steel wire to be detected in a translation mode, and when the sensing pointer contacts the steel wire to be detected and triggers the steel wire tension sensor to work, starting the displacement sensor to work, and continuously translating to stir the steel wire to be detected;
(3) and when the translation distance of the sensing pointer reaches a preset displacement value of the microcontroller, the microcontroller locks the tension value detected by the steel wire tension sensor at the moment and displays the tension value on the display screen, and the measurement is finished.
5. The digital detection method for the tension of the transmission wire of the surgical robot according to claim 4, wherein: install the displacement indicator lamp on the device body, the displacement indicator lamp with the microcontroller electricity is connected, works as sensing pointer translation distance reaches after microcontroller's the displacement value of predetermineeing, microcontroller control lights the displacement indicator lamp, and the suggestion is measured and is ended.
6. The digital detection method for the tension of the transmission wire of the surgical robot according to claim 4, wherein: when the translation distance of the sensing pointer does not reach the preset displacement value of the microcontroller and the tension value detected by the steel wire tension sensor is reduced, the microcontroller controls the display screen to display the NA character and measures again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210647895.2A CN114890236A (en) | 2022-06-09 | 2022-06-09 | Digital detection device and method for tension of transmission steel wire of surgical robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210647895.2A CN114890236A (en) | 2022-06-09 | 2022-06-09 | Digital detection device and method for tension of transmission steel wire of surgical robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103462694A (en) * | 2013-09-06 | 2013-12-25 | 天津大学 | Force sensing system for multi-degree-of-freedom thread transmission surgical tool |
| US20140276933A1 (en) * | 2013-03-14 | 2014-09-18 | Hansen Medical, Inc. | Torque-based catheter articulation |
| US20140276594A1 (en) * | 2013-03-14 | 2014-09-18 | Hansen Medical, Inc. | Catheter tension sensing |
| CN108338838A (en) * | 2018-03-12 | 2018-07-31 | 深圳市精锋医疗科技有限公司 | The tensioning method of motion arm driving mechanism |
| CN110831653A (en) * | 2017-06-28 | 2020-02-21 | 奥瑞斯健康公司 | Instrument insertion compensation |
| CN213552311U (en) * | 2020-09-29 | 2021-06-29 | 沈阳术驰医疗科技有限公司 | Endoscope manipulator with force feedback |
| US20210282876A1 (en) * | 2020-03-13 | 2021-09-16 | Verb Surgical Inc. | Detecting cable breakage on cable driven tools |
| CN113598955A (en) * | 2021-09-13 | 2021-11-05 | 上海交通大学 | Power transmission mechanism of minimally invasive surgery robot |
-
2022
- 2022-06-09 CN CN202210647895.2A patent/CN114890236A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140276933A1 (en) * | 2013-03-14 | 2014-09-18 | Hansen Medical, Inc. | Torque-based catheter articulation |
| US20140276594A1 (en) * | 2013-03-14 | 2014-09-18 | Hansen Medical, Inc. | Catheter tension sensing |
| CN103462694A (en) * | 2013-09-06 | 2013-12-25 | 天津大学 | Force sensing system for multi-degree-of-freedom thread transmission surgical tool |
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| CN108338838A (en) * | 2018-03-12 | 2018-07-31 | 深圳市精锋医疗科技有限公司 | The tensioning method of motion arm driving mechanism |
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| CN213552311U (en) * | 2020-09-29 | 2021-06-29 | 沈阳术驰医疗科技有限公司 | Endoscope manipulator with force feedback |
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