CN204027517U - Flexible pipe 3D shape sensing device - Google Patents
Flexible pipe 3D shape sensing device Download PDFInfo
- Publication number
- CN204027517U CN204027517U CN201420471339.5U CN201420471339U CN204027517U CN 204027517 U CN204027517 U CN 204027517U CN 201420471339 U CN201420471339 U CN 201420471339U CN 204027517 U CN204027517 U CN 204027517U
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- flexible pipe
- electromagnetic device
- magnetic field
- shape sensing
- solenoid
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- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The utility model discloses flexible pipe 3D shape sensing device, comprise: overcoat flexible pipe, electromagnetic device, electromagnetic device conductor jointer, described electromagnetic device arrangement is fixed in described overcoat flexible pipe, described overcoat flexible pipe is connected with described electromagnetic device conductor jointer with described electromagnetic device, the utility model has the advantages that the occasion that can be applied in and be determined flexible pipe 3D shape by magnetic field in a non-contact manner, the utility model has very high practical value in medical diagnosis, multi-medium data collection and Long-distance Control etc.
Description
Technical field
The utility model relates to flexible pipe 3D shape sensing device, particularly relates to the sensor adopting the method for electromagnetism to measure the 3D shape of irregular tube-shape, belongs to field of measuring technique.
Background technology
At present, traditional method many employings mechanical contact of existing measurement 3D shape or the mode of photoelectric sensing, use magnetic field to determine substantially to be confined to single-sensor in object dimensional position although have.Such as, adopt the switch scanning method of mechanical system, a multi-faceted contact switch prolongs body surface and moves, by the three-dimensional information of the break-make determination body surface of switch.The method can not carry out non-cpntact measurement.Such as, employing photoelectric sensing mode, beam of laser is projected body surface, obtains the projected image of laser through video camera, carried out the 3D shape on judgment object surface by the curved shape analyzing laser rays.The method can not under measured surface, i.e. internal objects, 3D shape.Such as, Chinese patent notification number CN100394888C, authorize June 18 2008 day, name is called the method disclosing in the patent based on the swallowing type electronic remote detection continuous tracking and positioning system in capsule of magnetic marker and utilize magnetic field to determine object dimensional position.The method can only determine the three-dimensional information of a single point, and cannot be used for measuring 3D shape.
Utility model content
The purpose of this utility model is to provide a kind of flexible pipe 3D shape sensing device that can overcome above-mentioned technical matters, the utility model is utilized magnetic field to record to be fixed on the position of the some electromagnetic devices in flexible pipe and is gone out the shape of flexible pipe by interpolation calculation, therefore, the utility model is applicable to the 3D shape measuring hose-like object, such as, measure the shape of endoscope.
The utility model comprises overcoat flexible pipe, electromagnetic device, electromagnetic device conductor jointer, described electromagnetic device arrangement is fixed in described overcoat flexible pipe, described overcoat flexible pipe is connected with described electromagnetic device conductor jointer with described electromagnetic device, and the utility model is by measuring the orientation of described electromagnetic device and determining the 3D shape of described overcoat flexible pipe through interpolation calculation.
Described electromagnetic device is magnetic field sensor, for receiving the specific magnetic fields produced by magnetic field generator, by processing the magnetic field electric signal that described electromagnetic device obtains, measures the orientation of described electromagnetic device.
Described electromagnetic device is solenoid and launches specific magnetic fields, and described specific magnetic fields is received by other receiving trap, is obtained the electric signal of described specific magnetic fields, measure the orientation of described solenoid by process receiving trap.
Described overcoat flexible pipe is solid overcoat flexible pipe or hollow overcoat flexible pipe.
The specific magnetic fields that described solenoid is launched is multi-frequency alternating magnetic field.
Comprise the memory device with memory function in described electromagnetic device conductor jointer, described memory device stores the following information of described electromagnetic device by encryption or unencrypted mode: production information, calibration information, use information, maintenance information.
Described electromagnetic device conductor jointer is the connector be made up of printed circuit board (PCB).
When described electromagnetic device is solenoid, the sensor conductor of described solenoid exit moves towards the middle part towards this solenoid.
When described electromagnetic device is solenoid, directly fixed by overcoat flexible pipe between different solenoids.
Described magnetic field sensor is solenoid.
In the utility model, electromagnetic device is the device that can convert electrical signals to magnetic signal or magnetic signal is converted to electric signal.When certain class electromagnetic device is used to measure magnetic field intensity, when that is can stably magnetic signal is converted to electric signal and represent magnetic field size by this electric signal, such electromagnetic device be called as magnetic field sensor; When solenoid is used as magnetic field sensor, be called as sensor electrical magnetic coil, again referred to as cell winding; When magnetic field sensor is used to the three-dimensional position measuring this magnetic field sensor, then this magnetic field sensor is referred to as the three-dimensional position sensor based on magnetic field.When emphasizing three-dimensional position relation, magnetic field sensor is referred to as three-dimensional position sensor, and when being used for magnetic field correlation properties are described, magnetic field sensor is referred to as magnetic field sensor.
The utility model adopts some three-dimensional position sensors based on magnetic field, this three-dimensional position sensor can measure the magnetic field intensity of certain point in three dimensions, by the many groups field generator for magnetic at diverse location, as solenoid, such one group of magnetic field can be produced, make the three-dimensional of the relatively described field generator for magnetic of three-dimensional position sensor described in the measurement vector of described three-dimensional position sensor uniquely corresponding with position, that is, the magnetic field intensity that known described three-dimensional position sensor records, can be calculated it in three-dimensional relative direction and position, the equal finger direction in orientation involved in the utility model and position.
Described three-dimensional position sensor arrangement is arranged in an overcoat flexible pipe, fixing interval is had between three-dimensional position sensor, on the basis recording these three-dimensional orientation of three-dimensional position sensor, by computer system by carrying out interpolation calculation to the three-dimensional position of three-dimensional position sensor, the 3D shape of overcoat flexible pipe can be determined.
Measuring system and the described computer system of described field generator for magnetic, described three-dimensional position sensor are commonly referred to as host computer system, described three-dimensional position sensor can be connected with described host computer system by described electromagnetic device conductor jointer, makes can change when needs.
The utility model is applicable to the 3D shape measuring flexible pipe object, can be applied to the fields such as multimedia making, Long-distance Control, medicine equipment.One of them application example is exactly the 3D shape measuring flexible-pipe endoscope.Be inserted in the pincers road of endoscope by overcoat flexible pipe of the present utility model, the shape of overcoat flexible pipe is exactly the shape of endoscope channel, and the shape in pincers road is exactly the shape of endoscope, so can learn the 3D shape of endoscope by measuring the utility model.
Because be a kind of non-contacting measurement to the measurement of magnetic field intensity, therefore, the utility model has the advantages that the occasion that can be applied in and be determined flexible pipe 3D shape by magnetic field in a non-contact manner, the utility model has very high practical value in medical diagnosis, multi-medium data collection and Long-distance Control etc.
Accompanying drawing explanation
Fig. 1 is the one-piece construction schematic diagram of flexible pipe 3D shape sensing device described in the utility model;
Fig. 2 is the coil schematic diagram of the magnetic field three-dimensional position sensor of flexible pipe 3D shape sensing device described in the utility model, and its extension line moves towards coil outer;
Fig. 3 is the coil schematic diagram of the magnetic field three-dimensional position sensor of flexible pipe 3D shape sensing device described in the utility model, and its extension line moves towards thiol;
Fig. 4 is the coil schematic diagram of the magnetic field three-dimensional position sensor of flexible pipe 3D shape sensing device described in the utility model, and its extension line moves towards the another kind of form of thiol;
Fig. 5 is the scheme of installation of magnetic field three-dimensional position sensor in overcoat flexible pipe of flexible pipe 3D shape sensing device described in the utility model;
Fig. 6 is sealing and the fixed installation schematic diagram of magnetic field three-dimensional position sensor on overcoat flexible pipe top on the overcoat flexible pipe top of flexible pipe 3D shape sensing device described in the utility model.
Embodiment
Below in conjunction with drawings and Examples, the utility model is described in detail.
In the embodiment shown in fig. 1, the utility model is equipped with the overcoat flexible pipe 12 of some described three-dimensional position sensors 14 by inside, and the electromagnetic device conductor jointer 13 of overcoat flexible pipe top 11 and end is formed, and clear for showing, Fig. 1 does not draw sensor conductor.
Described three-dimensional position sensor 14 can be the coil detecting alternating magnetic field, as Fig. 2, shown in Fig. 3 and Fig. 4, the exit of described sensor conductor refers to the position of sensor being drawn wire, the sensor conductor of described exit refers to the wire of drawing at the exit of described sensor conductor, described three-dimensional position sensor 14 is by sensor magnetic core 23, form around the cell winding 22 on described sensor magnetic core 23 and coil pickoff wire 21, in order to reduce the stress of sensor conductor at described exit, thus increase the reliability of sensor conductor at described exit, the sensor conductor of exit should towards cell winding 22 third side to cabling, as shown in Figure 3 and Figure 4, the sensor conductor of the exit shown in Fig. 2 is towards cell winding 22 outside direction cabling, sensor conductor shown in Fig. 2 is at described exit, particularly described exit root bending with the overcoat flexible pipe 12 of three-dimensional position sensor 14 and movable time produce larger stress, described flexible pipe 3D shape sensing device is normally used for the 3D shape of sensing deformable bodies and position, as 3D shape and the position of endoscope, need in the use procedure of described flexible pipe 3D shape sensing device often to bend along with by the object of sensing, the root of the described exit of the sensor conductor shown in Fig. 2 because bending produce larger interior firmly, the Method compare of relative Fig. 3 and Fig. 4 easily fractures.
Structure shown in Fig. 5 is directly fixed by overcoat flexible pipe by the coil as magnetic field sensor, clear for showing, sensor conductor is not drawn in Fig. 5, in overcoat flexible pipe 12, cell winding 22 and sensor magnetic core 23 form described magnetic field sensor, and cell winding 22 and sensor magnetic core 23 are fixed by interval flexible pipe 31; Interval flexible pipe 31 part is enclosed within sensor magnetic core 23 also fixing, and the stability of the structure of directly being fixed by overcoat flexible pipe is relatively good and more sturdy and durable, but will be fixed and can increase workload sensor magnetic core 23 and interval flexible pipe 31 in an embodiment; The utility model also has a kind of embodiment to be in overcoat flexible pipe 12, cell winding 22 and sensor magnetic core 23 form described magnetic field sensor, cell winding 22 and sensor magnetic core 23 are by sept interval thus keep certain interval, keep relatively-stationary position relationship within the specific limits between the described described magnetic field sensor be made up of cell winding 22 and sensor magnetic core 23.
Fig. 6 illustrates top 11 and the fixed sturcture thereof of overcoat flexible pipe 12, clear for showing, sensor conductor is not drawn in Fig. 6, the top 11 of overcoat flexible pipe 12 is generally resin or plastic column, it plays the effect of hermetically sealed case flexible pipe 12 on the one hand, on the other hand cell winding 22 is fixed on the top of overcoat flexible pipe 12 by interval flexible pipe 31, like this, follow-up cell winding all can keep fixing position relationship with overcoat flexible pipe 12.
Except adopting coil as magnetic field sensor, other sensors such as Hall element (Hall), magnetoresistive transducer (AMR), giant magneto-resistance sensor (GMR) can also be adopted as magnetic field sensor.
As shown in Figure 1, the wire of the magnetic field sensor of described cell winding 22 or other types is connected to outside of the present utility model by electromagnetic device conductor jointer 13, such the utility model in use can be easy to change, described electromagnetic device conductor jointer 13 can be the multicore electromagnetic device conductor jointer of standard, such as aviation electromagnetic device conductive lines connector; Described electromagnetic device conductor jointer 13 also can be the connector be made up of printed circuit board (PCB).
The built-in memory device with memory function in electromagnetic device conductor jointer 13 as shown in Figure 1, described memory device is used for depositing the production information such as production area date, lot number, calibration information of described electromagnetic device, and described memory device is also used for depositing the parameter of the different three-dimensional position sensor 14 such as sensitivity, the position of three-dimensional position sensor 14 in described overcoat flexible pipe 12 of the polarity of described three-dimensional position sensor 14, three-dimensional position sensor 14; Described memory device is also used for depositing the use information such as access times, service time of described electromagnetic device; Described memory device is also used for the maintenance informations such as the nearest maintenance dates depositing described electromagnetic device.The information of electromagnetic device described above can be all encryption or unencrypted.
Described overcoat flexible pipe 12 is in fact the carrier of described three-dimensional position sensor, described overcoat flexible pipe 12 by but be not limited to following manufacturing process to manufacture: injection moulding, cast, bonding, described overcoat flexible pipe 12 is hollow hoses or solid flexible pipe.
The above; be only embodiment of the present utility model; but protection domain of the present utility model is not limited thereto; anyly be familiar with those skilled in the art in the utility model scope of disclosure; the change that can expect easily or replacement, all should be encompassed in the protection domain of the utility model claim.
Claims (9)
1. flexible pipe 3D shape sensing device, it is characterized in that, comprise: overcoat flexible pipe, electromagnetic device, electromagnetic device conductor jointer, described electromagnetic device arrangement is fixed in described overcoat flexible pipe, described overcoat flexible pipe is connected with described electromagnetic device conductor jointer with described electromagnetic device, comprise the memory device with memory function in described electromagnetic device conductor jointer, described memory device stores the following information of described electromagnetic device by encryption or unencrypted mode: production information, calibration information, use information, maintenance information.
2. flexible pipe 3D shape sensing device according to claim 1, it is characterized in that, described electromagnetic device is magnetic field sensor, for receiving the specific magnetic fields produced by magnetic field generator, by processing the magnetic field electric signal that described electromagnetic device obtains, measure the orientation of described electromagnetic device.
3. flexible pipe 3D shape sensing device according to claim 1, it is characterized in that, described electromagnetic device is solenoid and launches specific magnetic fields, described specific magnetic fields is received by other receiving trap, obtained the electric signal of described specific magnetic fields by process receiving trap, measure the orientation of described solenoid.
4. flexible pipe 3D shape sensing device according to claim 1, is characterized in that, described overcoat flexible pipe is solid overcoat flexible pipe or hollow overcoat flexible pipe.
5. flexible pipe 3D shape sensing device according to claim 1, is characterized in that, the specific magnetic fields that described solenoid is launched is multi-frequency alternating magnetic field.
6. flexible pipe 3D shape sensing device according to claim 1, is characterized in that, described electromagnetic device conductor jointer is the connector be made up of printed circuit board (PCB).
7. flexible pipe 3D shape sensing device according to claim 1, is characterized in that, when described electromagnetic device is solenoid, the sensor conductor of described solenoid exit moves towards the middle part towards this solenoid.
8. flexible pipe 3D shape sensing device according to claim 1, is characterized in that, when described electromagnetic device is solenoid, is directly fixed by overcoat flexible pipe between different solenoids.
9. flexible pipe 3D shape sensing device according to claim 2, is characterized in that, described magnetic field sensor is solenoid.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420471339.5U CN204027517U (en) | 2014-08-20 | 2014-08-20 | Flexible pipe 3D shape sensing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420471339.5U CN204027517U (en) | 2014-08-20 | 2014-08-20 | Flexible pipe 3D shape sensing device |
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| Publication Number | Publication Date |
|---|---|
| CN204027517U true CN204027517U (en) | 2014-12-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420471339.5U Expired - Fee Related CN204027517U (en) | 2014-08-20 | 2014-08-20 | Flexible pipe 3D shape sensing device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104142119A (en) * | 2014-08-20 | 2014-11-12 | 广州市易轩生物科技有限公司 | Sensing device for three-dimensional shape of hose |
| CN110731745A (en) * | 2019-09-10 | 2020-01-31 | 中山大学附属第一医院 | endoscope shape estimation device integrating pressure sensing technology |
| CN110731746A (en) * | 2019-09-10 | 2020-01-31 | 中山大学附属第一医院 | A device for estimating the shape of an endoscope |
| CN110811527A (en) * | 2019-12-05 | 2020-02-21 | 中山大学附属第一医院 | An endoscope with the functions of shape prediction and online auxiliary diagnosis of diseases |
-
2014
- 2014-08-20 CN CN201420471339.5U patent/CN204027517U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104142119A (en) * | 2014-08-20 | 2014-11-12 | 广州市易轩生物科技有限公司 | Sensing device for three-dimensional shape of hose |
| CN104142119B (en) * | 2014-08-20 | 2017-06-09 | 广州市易轩生物科技有限公司 | Flexible pipe 3D shape sensing device |
| CN110731745A (en) * | 2019-09-10 | 2020-01-31 | 中山大学附属第一医院 | endoscope shape estimation device integrating pressure sensing technology |
| CN110731746A (en) * | 2019-09-10 | 2020-01-31 | 中山大学附属第一医院 | A device for estimating the shape of an endoscope |
| CN110811527A (en) * | 2019-12-05 | 2020-02-21 | 中山大学附属第一医院 | An endoscope with the functions of shape prediction and online auxiliary diagnosis of diseases |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141217 Termination date: 20200820 |