WO2002043588A1 - Systeme de retroaction de force - Google Patents

Systeme de retroaction de force Download PDF

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Publication number
WO2002043588A1
WO2002043588A1 PCT/DE2001/004538 DE0104538W WO0243588A1 WO 2002043588 A1 WO2002043588 A1 WO 2002043588A1 DE 0104538 W DE0104538 W DE 0104538W WO 0243588 A1 WO0243588 A1 WO 0243588A1
Authority
WO
WIPO (PCT)
Prior art keywords
tactile
stiffness
pressure
force feedback
feedback system
Prior art date
Application number
PCT/DE2001/004538
Other languages
German (de)
English (en)
Inventor
Georg Duda
Jan-Erik Hoffmann
Original Assignee
Universitätsklinikum Charite Medizinische Fakultät Der Humboldt-Universität Zu Berlin
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Universitätsklinikum Charite Medizinische Fakultät Der Humboldt-Universität Zu Berlin filed Critical Universitätsklinikum Charite Medizinische Fakultät Der Humboldt-Universität Zu Berlin
Publication of WO2002043588A1 publication Critical patent/WO2002043588A1/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0048—Detecting, measuring or recording by applying mechanical forces or stimuli
    • A61B5/0053—Detecting, measuring or recording by applying mechanical forces or stimuli by applying pressure, e.g. compression, indentation, palpation, grasping, gauging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/44—Detecting, measuring or recording for evaluating the integumentary system, e.g. skin, hair or nails
    • A61B5/441—Skin evaluation, e.g. for skin disorder diagnosis
    • A61B5/445—Evaluating skin irritation or skin trauma, e.g. rash, eczema, wound, bed sore

Definitions

  • the invention relates to a device for displaying and recording the stiffness of materials, with the aid of which physical measured values can be displayed at a location distant from the measurement location and, above all, can be depicted tactilely, ie based on the sense of touch
  • DE 4332 580 AI describes the simulation of the sense of touch on a surgical instrument.
  • a sensor and actuator array sensitive to force, pressure or displacement is arranged on the instrument
  • the object of the invention is therefore to make measurement results palpable for an evaluating person in the evaluation of physical measurement values
  • a force feedback system was developed that enables the user or surgeon to feel the mechanical stiffness value.
  • the stiffness value measured for example, for arthroscopic or endoscopic use in medical applications is preferably controlled by a measuring electronics system that detects the respective measuring field Voltage U is the pressure that prevails under an external tactile pillow.
  • the rigidity of the pillow is equivalent to the measured rigidity of the material to be evaluated or the biological sample
  • the tactile cushion or tactile pad is part of the stiffness transmitter.Other functional elements of the transmitter are the input transducer, which converts the input voltage U into a pressure P equivalent to the voltage become
  • the minimal variant of the device has a surface for sensing the rigidity. Possible designs with additional tactile surfaces serve the comfort of the device eg to ensure the comparability of different stored values. The essential functions are not affected
  • Fig. 2 shows the overall view of a device version
  • FIG. 1 illustrates the basic function of the new force feedback system.
  • An electrical voltage is used as the input variable for the stiffness transmitter, which represents the physical measurement variable to be represented.
  • a pressure P is generated in a closed pressure system and a tactile pad 2 for tactile use Evaluation of the current stiffness pressure provided
  • the regulated, closed pressure system includes the pump, pressure vessel and touch pad
  • the standard version of the device has a tactile surface 2
  • several tactile surfaces can be provided on the stiffness transmitter, the arrangement of which is arbitrary and is solely subject to functional aspects
  • the number of tactile pads 2 is particularly limited by the complexity of the control systems, which must be provided separately for each touch pad
  • the tactile surfaces 2 are designed as pads or membranes. Silicon or a comparable material can be used as the material.
  • the size of the tactile surface is at least 30 mm x 30 mm in the case of rectangular geometry or 30 mm in diameter in the case of a circular design
  • Fig. 2 shows an exemplary device design.
  • the stiffness transmitter 1 is integrated in a housing that can be set up within the reach of the user. It has supply cables for power supply and feeding of the measurement and control signals.
  • On the front of the device are the touch surfaces 2, the associated digital displays with LEDs 5 and Switch 6 arranged for storing Deletion of the current value The device is put into operation via a mains switch 7.
  • Switch 8 is used to switch the measuring range to selectively display the palpable stiffness with different amplification factors
  • the input voltage U is converted into a stiffness pressure value and made palpable by means of the first tactile surface 2.
  • This tactile surface activation is indicated by the lighting of the associated LED 5 2 converted and represented by the digital display 5
  • the current stiffness value is saved, the LED goes out and the button surface is blocked for further changes. This blocking is ended by resetting the memory switch
  • the next unlocked button area becomes active after saving on the first button area.This is also indicated by the LED lighting up. If all button areas are in save mode and are therefore locked, a button area must be activated Storage can also be triggered by an external control signal, so that the user can, for example, concentrate on the ongoing measurement
  • the system is designed to be completely controllable and can be used directly at the operating table within the reach of the surgeon.
  • the last and penultimate measurement value of the arthroscopic or endoscopic stiffness measurement is transferred to the two pillows 2 according to FIG. 2. A direct comparison of the two last data values are thus possible for the surgeon by palpation

Abstract

Dispositif qui permet de détecter et de représenter la rigidité de matières, à l'aide duquel des valeurs de mesure physiques peuvent être représentées en un site éloigné du site de mesure et en particulier traduites de manière tactile, c'est-à-dire sur la base du toucher. La présente invention concerne un système de rétroaction de force qui permet à un utilisateur ou à un opérateur de sentir de manière tactile la valeur de rigidité mécanique. La valeur de rigidité mesurée de manière arthroscopique ou endoscopique, par exemple pour des applications médicales, commande, de préférence par l'intermédiaire d'une tension U produite par le dispositif électronique de mesure balayant le champ de mesure concerné, la pression qui règne sous un coussinet (2) de palpation externe. De cette manière, la rigidité du coussinet (2) représente un équivalent de la rigidité mesurée de la matière ou de l'échantillon biologique à évaluer. Dans un transmetteur (1) de rigidité selon la présente invention, une pression P est produite à l'aide d'un transducteur d'entrée (3) et d'un circuit de régulation (4) dans un système de pression fermé, puis mise à la disposition d'un coussinet de palpation (2) pour l'évaluation tactile de la pression de rigidité effective.
PCT/DE2001/004538 2000-12-02 2001-11-30 Systeme de retroaction de force WO2002043588A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE2000160061 DE10060061C2 (de) 2000-12-02 2000-12-02 Force-Feedback-Vorrichtung
DE10060061.1 2000-12-02

Publications (1)

Publication Number Publication Date
WO2002043588A1 true WO2002043588A1 (fr) 2002-06-06

Family

ID=7665633

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2001/004538 WO2002043588A1 (fr) 2000-12-02 2001-11-30 Systeme de retroaction de force

Country Status (2)

Country Link
DE (1) DE10060061C2 (fr)
WO (1) WO2002043588A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004067053A2 (fr) * 2003-01-28 2004-08-12 Technische Universität Darmstadt Systeme de technique medicale muni d'un dispositif oblong

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5609607A (en) * 1993-09-24 1997-03-11 Deutsche Aerospace Ag Device for modeling or simulating the sense of touch in a surgical instrument
US5673708A (en) * 1992-04-21 1997-10-07 Board Of Regents, The University Of Texas System Articular cartilage evaluator and method for using the same
US5904658A (en) * 1996-08-23 1999-05-18 Osteobiologics, Inc. Hand-held materials tester
WO2000079272A2 (fr) * 1999-06-21 2000-12-28 Universitätsklinikum Charité Procede et dispositif pour tester la rigidite de tissus biologiques

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3742935A (en) * 1971-01-22 1973-07-03 Humetrics Corp Palpation methods
DE2612898C3 (de) * 1976-03-26 1982-03-25 Dr. Madaus & Co, 5000 Köln Modell für die Palpation innerhalb von Körperhöhlen
JP3217386B2 (ja) * 1991-04-24 2001-10-09 オリンパス光学工業株式会社 診断システム
DE4133000C2 (de) * 1991-10-04 1993-11-18 Siegfried Dipl Ing Kipke Piezohydraulisches Modul zur Umsetzung taktiler Information
DE4233323A1 (de) * 1992-10-05 1994-04-07 Wolfgang Daum Tastsinnachahmung

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5673708A (en) * 1992-04-21 1997-10-07 Board Of Regents, The University Of Texas System Articular cartilage evaluator and method for using the same
US5609607A (en) * 1993-09-24 1997-03-11 Deutsche Aerospace Ag Device for modeling or simulating the sense of touch in a surgical instrument
US5904658A (en) * 1996-08-23 1999-05-18 Osteobiologics, Inc. Hand-held materials tester
WO2000079272A2 (fr) * 1999-06-21 2000-12-28 Universitätsklinikum Charité Procede et dispositif pour tester la rigidite de tissus biologiques

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
SUZUKI K ET AL: "A 1024-ELEMENT HIGH-PERFORMANCE SILICON TACTILE IMAGER", INTERNATIONAL ELECTRON DEVICES MEETING. SAN FRANCISCO, DEC. 11 - 14, 1988, NEW YORK, IEEE, US, 11 December 1988 (1988-12-11), pages 674 - 677, XP000043935 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004067053A2 (fr) * 2003-01-28 2004-08-12 Technische Universität Darmstadt Systeme de technique medicale muni d'un dispositif oblong
WO2004067053A3 (fr) * 2003-01-28 2009-03-12 Univ Darmstadt Tech Systeme de technique medicale muni d'un dispositif oblong

Also Published As

Publication number Publication date
DE10060061A1 (de) 2002-08-22
DE10060061C2 (de) 2003-02-06

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