WO2022082354A1 - 手术器械力检测装置 - Google Patents

手术器械力检测装置 Download PDF

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Publication number
WO2022082354A1
WO2022082354A1 PCT/CN2020/121854 CN2020121854W WO2022082354A1 WO 2022082354 A1 WO2022082354 A1 WO 2022082354A1 CN 2020121854 W CN2020121854 W CN 2020121854W WO 2022082354 A1 WO2022082354 A1 WO 2022082354A1
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WO
WIPO (PCT)
Prior art keywords
force
stamping
detection unit
surgical instrument
fixing
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PCT/CN2020/121854
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English (en)
French (fr)
Inventor
丁立
闫泳利
潘鲁锋
柳建飞
黄善灯
Original Assignee
诺创智能医疗科技(杭州)有限公司
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Application filed by 诺创智能医疗科技(杭州)有限公司 filed Critical 诺创智能医疗科技(杭州)有限公司
Priority to PCT/CN2020/121854 priority Critical patent/WO2022082354A1/zh
Publication of WO2022082354A1 publication Critical patent/WO2022082354A1/zh

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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

Definitions

  • the present application relates to the field of force detection, in particular to a force detection device for surgical instruments.
  • minimally invasive surgery has largely overcome the defects of traditional surgery, such as large incision, large blood loss, many complications and high surgical risks. Due to the rapid development in recent years, minimally invasive surgery is gradually gaining the favor of medical staff and patients, and has become an emerging field of medical research and clinical applications.
  • the surgical instrument When performing minimally invasive surgery, it is necessary to open a tiny wound on the surface of the patient's skin, and the surgical instrument reaches the patient's body by extending into the tiny wound. purpose of surgery.
  • the surgical operation can only be performed under the guidance of ultrasound, endoscopy, etc. with the help of the doctor's medical experience, and the deformation of the epidermal tissue or internal tissue can be used to judge the applied force of the surgical instrument.
  • the magnitude of the force or moment may increase the secondary injury to the patient's wound during the operation.
  • a surgical instrument force detection device including a fixing bracket, a first detection unit, a second detection unit and a stamping member, wherein the first detection unit and the second detection unit are both installed on the fixing bracket; the first detection unit can fix the epidermal tissue, and the first detection unit includes a first force sensor, and the first force sensor can detect that the stamping member is applied to the epidermal tissue
  • the second detection unit can fix the internal tissue, and the second detection unit includes a second force sensor, and the second force sensor can detect the force or torque exerted by the surgical instrument on the internal tissue.
  • the poking member is hollow and can be passed through by a surgical instrument, and the poking member can pass through the epidermal tissue fixed by the first detection unit, and make the surgical instrument contact the second
  • the internal tissue of the detection unit is fixed.
  • the poking clip can penetrate the epidermal tissue and make the surgical instrument contact the inner tissue.
  • the surgical instrument force detection device provided by the present application can fix and detect the force of the epidermal tissue and the internal tissue respectively, and the positions of the epidermal tissue and the internal tissue are also set in sequence relative to the poking member, which is closer to the operation in the minimally invasive surgery.
  • the environment can simulate the force of epidermal tissue and internal tissue during minimally invasive surgery, which is convenient for optimizing the movement path and force of surgical instruments, making the risk of minimally invasive surgery controllable, and solving the problem of traditional technology that cannot be detected to be detected. Organizational stress.
  • the first detection unit includes a first force detection component and a first fixing component
  • the first force detection component includes a stamping top bracket, a stamping link, a stamping bottom bracket and
  • the poke top frame and the poke bottom frame are connected by the poke link, and the poke member is installed on the poke top frame, and the first force
  • the sensor is installed on the fixing bracket, and the first force sensor is connected with the poke card chassis
  • the first fixing component is installed on the fixing bracket, and the first fixing component is used for fixing the skin organization
  • the stamping top frame can transmit the force or moment received by the stamping member to the stamping bottom frame through the stamping link
  • the first force sensor can detect the stamping bottom The force or moment experienced by the frame.
  • the stamping bracket in this application includes a stamping top bracket, a stamping link and a stamping bottom bracket.
  • the stamping top bracket can amplify the force and/or moment received by the stamping member, and then transmit it to the stamping rod through the stamping link.
  • the force or moment is reduced by pressing the card bottom bracket and transmitted to the first force sensor.
  • such a force transmission method can more accurately transmit the force and torque received by the poke clip to the first force sensor.
  • the poking member includes a transmission part and a link part that are connected to each other, the transmission part is mounted on the poking top frame, and the link part can pass through the epidermal tissue , the force or moment received by the link part can be transmitted to the first detection unit through the transmission part; the outer circumference of the transmission part is larger than the outer circumference of the link part.
  • the outer circumference of the transmission part is larger than the outer circumference of the connecting rod part, so that the contact area between the transmission part and the poke card top frame is larger, and the force and/or torque is directly transmitted to the poke card head frame relative to the connecting rod part.
  • the transmission of force and/or torque can increase the accuracy of transmission, so that the force and/or torque measured by the first force sensor is more accurate.
  • the number of the poke links is four; and/or, the poke links can be extended and retracted, and the poke top frame and the first fixing assembly can be changed the distance between.
  • the second detection unit further includes a second fixation stage, the second fixation stage is connected to the second force sensor, and the second fixation stage is used to fix the internal tissue , and the second force sensor can detect the force or moment received by the internal tissue on the second fixation table;
  • the fixation bracket includes a first support table and a second support table, the first support table is used for For carrying the first fixing component, the second fixing component and the second force sensor, the second supporting platform is used for carrying the first force detecting component. Placing the first fixing component and the first force detection component on the first support table and the second support table can avoid the shaking or vibration of the first support table and affect the detection accuracy of the first force detection component, and ensure the measured force and/or torque accuracy.
  • the first fixing component includes a first fixing table, a support rod, and a base, the first fixing table and the base are connected by the support rod, and the base is mounted on the base
  • the tissue to be detected is fixed by the first fixing component, which is easy to operate and the fixing method is simple; the support rod can be extended and retracted, and the positional relationship between the first fixing table and other components can be changed, so that the position of the tissue to be detected can be adjusted, which is convenient for simulation
  • the mechanical test was performed to simulate the surgical situation.
  • the first force sensor and the stamping chassis are both located between the first support table and the second support table, and one end of the first force sensor is mounted on the The other end of the first support platform is used for carrying the stamping base frame.
  • Both the first force sensor and the poke chassis are arranged between the first support table and the second support table, which will not affect the movement of the poke chassis, and can reasonably arrange the parts between the force detection devices of surgical instruments. Location.
  • the base is movable on the second support table.
  • the second force detection component is mounted on the base.
  • the second force detection component is directly installed on the base, which facilitates the installation and use of the second force detection component, and the surgical instrument force detection device has a relatively simple structure and low production cost.
  • the first force sensor is a six-dimensional force sensor; and/or the second force sensor is an S-type force sensor.
  • the first force sensor adopts a six-dimensional force sensor, which can measure three force components and three moment components at the same time, with high sensitivity, good rigidity and accurate data information.
  • the second force sensor adopts the S-type load cell.
  • the S-type load cell can detect the tension and pressure conditions. It is small in size and easy to install. It has strong anti-eccentric load capacity, high precision and a large measurement range.
  • the force of the epidermal tissue and the internal tissue can be fixed and detected respectively, and the positions of the epidermal tissue and the internal tissue are also set in sequence relative to the stamping member, which is closer to minimally invasive surgery. It can simulate the force of epidermal tissue and internal tissue during minimally invasive surgery, and it is convenient to optimize the movement path and force of surgical instruments.
  • FIG. 1 is a schematic structural diagram of a surgical instrument force detection device in Embodiment 1 of the present application.
  • FIG. 2 is a schematic structural diagram of the force detection device of the surgical instrument shown in FIG. 1 from another angle.
  • Surgical instrument force detection device 10. Fixed bracket; 11. First support table; 12. Second support table; 20. First detection unit; Support rod; 213, base; 22, first force detection component; 221, stamping bracket; 2211, stamping top frame; 2212, stamping connecting rod; 2213, stamping bottom bracket; 222, first force sensor; 30 31, the second fixed assembly; 311, the second fixed platform; 32, the second force detection assembly; 321, the second force sensor; 40, the stamping clip; 41, the transmission part; department.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , it can also be integrated; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two components or two components. interactions, unless otherwise expressly defined.
  • the specific meanings of the above terms in this application can be understood according to specific situations.
  • the technical solutions of the present application will be described in detail below with specific examples. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.
  • minimally invasive surgery has largely overcome the defects of traditional surgery, such as large incision, large blood loss, many complications and high surgical risks. Due to the rapid development in recent years, minimally invasive surgery is gradually gaining the favor of medical staff and patients, and has become an emerging field of medical research and clinical applications.
  • the telecentric fixed point referred to in this article refers to a fixed fixed point selected along the length of the surgical instrument, and the movement of the surgical instrument during the actual operation has a swinging motion around this point. regularity, and the point does not move. Specifically, the swing of the surgical instrument will take the telecentric fixed point as the swing center, and the forward and backward telescopic motion of the surgical instrument will move along the telecentric fixed point.
  • the position of the telecentric fixed point is the wound position at the human epidermis during the operation; the movement of the surgical instrument has the regularity relative to the telecentric fixed point, which is to ensure During the movement of the device, the area of the human wound will not be enlarged due to the movement of the equipment, which is the premise of minimally invasive surgery.
  • the position of the telecentric fixed point is not necessarily fixed in the actual operation. changeable. For example, doctors perform surgical operations on different wounds, and the two surgical operations on the wounds will cause the control device to select telecentric fixed points at different positions in different time periods according to the actual surgical instrument length and other parameters.
  • the movement under a single surgical operation can form a regular movement relative to the telecentric fixed point.
  • the surgical operation can only be performed under the guidance of ultrasound, endoscopy, etc. with the help of the doctor's medical experience, and the deformation of the epidermal tissue or internal tissue can be used to judge the applied force of the surgical instrument.
  • the magnitude of the force and/or moment may increase the secondary injury to the patient's wound during the operation.
  • FIG. 1 is a schematic structural diagram of the surgical instrument force detection device 100 in Embodiment 1 of the present application
  • FIG. 2 is a structural schematic diagram of the surgical instrument force detection device 100 shown in FIG. 1 from another angle.
  • the surgical instrument force detection device 100 includes a fixed bracket 10 , a first detection unit 20 , a second detection unit 30 and a stamping member 40 .
  • the first detection unit 20 and the second detection unit 30 are both installed on the fixed bracket 10 .
  • the first detection unit 20 and the second detection unit 30 can respectively fix the epidermal tissue and the inner tissue, and the first detection unit 20 can detect the force and/or moment acting on the epidermal tissue, and the second detection unit 30 can detect the force acting on the inner tissue and/or torque;
  • the poking member 40 is hollow and can be passed through by surgical instruments, and the poking member 40 can pass through the epidermal tissue fixed by the first detection unit 20 and make the surgical instrument contact the interior of the second detection unit 30 fixed organize.
  • the surgical instrument force detection device 100 provided in this application can respectively fix and detect the force of the epidermal tissue and the internal tissue, and the positions of the epidermal tissue and the internal tissue are also set in sequence relative to the stamping member 40, which is closer to minimally invasive surgery. It can simulate the force of epidermal tissue and internal tissue during minimally invasive surgery, and it is convenient to optimize the movement path and force of surgical instruments.
  • the fixing bracket 10 is used to carry the first detection unit 20 and the second detection unit 30.
  • the fixing bracket 10 is formed by splicing a plurality of profiles, and the profiles can be Metal profiles, but also plastic profiles.
  • the first detection unit 20 includes a first fixation component 21 and a first force detection component 22.
  • the first fixation component 21 is used to fix the epidermal tissue, and the first force detection component 22 can detect the force and/or torque on the epidermal tissue.
  • the first fixing assembly 21 includes a first fixing table 211, a support rod 212 and a base 213, the first fixing table 211 and the base 213 are connected by the support rod 212, and the first fixing table 211 is used for fixing epidermal tissue,
  • the base 213 can be fixedly mounted on the fixing bracket 10 .
  • the base 213 may not be provided, and the support rod 212 may be directly fixed to the fixing bracket 10; the support rod 212 and base 213 may also not be provided, and the first fixing platform 211 may be directly fixed and connected to the first force Detection assembly 22 .
  • the support rod 212 can be extended and retracted, and the first fixed position can be changed.
  • the positional relationship between the stage 211 and other components makes the position of the epidermal tissue adjustable, which is convenient for simulating the operation situation and performing the mechanical test. It can be understood that the support rods 212 can be extended and retracted synchronously, and each support rod 212 can be extended and retracted by different distances according to actual needs.
  • the support rod 212 can also be fixed, and does not necessarily have to be adjustable; of course, the position of the first fixing table 211 can also be changed in other ways, for example, by changing the height of the base 213 to change the first fixing table
  • the location of 211 is not limited here.
  • the first fixing table 211 is a square ring
  • the first fixing assembly 21 further includes a first fixing member (not shown in the figure), and the first fixing member can fix the epidermal tissue on the first fixing table 211.
  • the clips 40 can pass through the epidermal tissue; the number of support rods 212 is four, and they are located at the four corners of the first fixing table 211 respectively.
  • the first fixing platform 211 can also be in other shapes, and the supporting rods 212 can also be more or less than four.
  • the first force detection component 22 includes a first force sensor 222, which is directly or indirectly connected to the first fixing table 211, and can detect the force and/or moment received by the epidermal tissue.
  • the first force detection component 22 is preferably a six-dimensional force sensor. It can be understood that, in other embodiments, a three-dimensional force sensor or other common force sensor can also be selected according to actual needs, which is not limited herein.
  • the first force detection component 22 further includes a poke bracket 221
  • the stamping bracket 221 includes a stamping top bracket 2211, a stamping link 2212 and a stamping bottom bracket 2213, and the stamping top bracket 2211 and the stamping bottom bracket 2213 are connected by the stamping link 2212,
  • the stamping member 40 is mounted on the stamping top frame 2211
  • the first force sensor 222 is mounted on the fixing bracket 10
  • the first force sensor 222 is connected with the stamping bottom frame 2213
  • the first fixing component 21 is installed on the fixing bracket 10, and the first fixing component 21 is used to fix the epidermal tissue;
  • the poking top frame 2211 can restrain the force and/ Or the torque is transmitted to the stamping chassis 2213 through the stamping link 2212 , and the first force sensor 222 can detect the force and/or moment received by the stamping chassis 2213 .
  • the force acting on the epidermal tissue by the poking member 40 that is, the force received by the epidermal tissue
  • the position of the first force sensor 222 can be more selective, and it is not necessary to directly set it on the first fixed position. on component 21.
  • the four poke links 2212 there are four poke links 2212, and the four poke links 2212 are evenly distributed between the poke top frame 2211 and the poke bottom frame 2213 in the circumferential direction, which has a good force transmission effect. And can take into account the cost. It can be understood that, in other embodiments, the number of poke links 2212 may be more or less than four.
  • the stamping link 2212 can be extended and retracted, and the relationship between the stamping top frame 2211 and the first fixing assembly 21 and other components can be changed. relative positional relationship between them. It can be understood that the poke link 2212 can be extended and retracted synchronously, and each poke link 2212 can be extended and retracted by different distances according to actual needs; and in other embodiments, the poke link 2212 can also be a fixed length, through Adjust the positional relationship of other components to realize surgical simulation operation.
  • the stamping top frame 2211 and the stamping bottom frame 2213 are preferably circular rings, and the inside of the circular rings is provided with a cross connection plate, the stamping member 40 is arranged at the center of the cross connecting plate of the stamping top frame 2211, the first force sensor 222 is arranged at the center of the cross connecting plate of the stamping bottom frame 2213, and the stamping top frame 2211 can respond to the pressure received by the stamping member 40.
  • the force and/or torque is amplified, and then transmitted to the corresponding position of the poke chassis 2213 through the poke link 2212 , and the poke chassis 2213 reduces the force or torque and transmits it to the first force sensor 222 . In this way, compared to directly transmitting smaller force and/or torque, such a force transmission method can more accurately transmit the force and torque received by the poking clip 40 to the first force sensor 222 .
  • the shape, size and material of the poke top frame 2211 and the poke bottom frame 2213 are the same, and the installation angles are also the same; The size and material are also the same, and the poke links 2212 are evenly distributed in the circumferential direction between the poke top frame 2211 and the poke bottom frame 2213, and the distribution positions of the poke links 2212 are relatively close to the poke top frame 2211 and the poke card The outer periphery of the chassis 2213.
  • This arrangement can not only improve the transmission accuracy of the force, but also reduce the production cost, and the stamping card top frame 2211 and the stamping card bottom frame 2213 can be produced at the same time.
  • the second detection unit 30 includes a second fixation component 31 and a second force detection component 32.
  • the second fixation component 31 is used to fix the internal tissue, and the second force detection component 32 can detect the force and/or torque on the internal tissue.
  • the second fixing assembly 31 includes a second fixing table 311
  • the second force detecting assembly 32 includes a second force sensor 321
  • the second fixing table 311 is used to fix the internal tissue.
  • the two force sensors 321 are used to detect the force and/or moment received by the internal tissue; This arrangement can simplify the structure of the second detection unit 30, reduce the production cost of the force detection mechanism of the surgical instrument, and the positions of the second fixing table 311 and the second force sensor 321 are relatively fixed, which is convenient for positioning, calibration and use.
  • the second fixing assembly 31 may adopt a more complex structure to achieve more functions, for example, a support rod and a base are provided like the first fixing assembly 21, and the adjustment is made by adjusting the telescopic length of the support rod
  • the height of the second fixing table 311 makes the adjustment more flexible, and the positional relationship between the epidermal tissue and the internal tissue is closer to the positional relationship between the epidermal tissue and the internal tissue at the patient's lesion during an actual surgical operation.
  • a groove (not numbered) is formed on the second fixing table 311, and a second fixing member (not shown) is arranged around the groove, so The second fixing member can fix the internal tissue on the second fixing table 311 and partially or completely cover the groove.
  • the second force sensor 321 is fixedly arranged on the base 213 of the first fixing component 21 .
  • a sliding component (not shown), the first fixing component 21 and/or a sliding component (not shown) may be provided on the second support table 12 .
  • the second fixing assembly 31 is moved on the second supporting table 12 using the sliding assembly.
  • the relative position of the second fixing component 31 can also be changed to make the relative positional relationship between the epidermal tissue and the internal tissue closer to the actual operation, which will not be repeated here.
  • the second force detection component 32 is preferably an S-type load cell, and the S-type load cell is located on the lower side of the groove of the second fixing table 311 . It can be understood that, in other embodiments, in order to obtain more detailed and accurate force detection information, a six-dimensional force sensor or other common force sensor may also be selected, which is not limited herein.
  • the first support table 11 and the second support table 12 are respectively fixed It is installed on a plurality of profiles of the fixing bracket 10 , and the first support table 11 is located above the second support table 12 .
  • the first support table 11 is used for carrying the first fixing component 21 , the second fixing component 31 and the second force detection component 32 , and the second support table 12 is used for supporting the first force detection component 22 .
  • the stamping member 40 , the first fixing table 211 , the second fixing table 311 , the second force sensor 321 , and the first force sensor 222 can be arranged in sequence in the vertical direction, and each component in the surgical instrument force detection device 100 can be arranged in sequence.
  • the arrangement is reasonable and the floor area is small, which is conducive to the development of the surgical instrument force detection device 100 in the direction of miniaturization.
  • the number of fixing brackets may also be two, and the first support table 11 and the second support table 12 may also be respectively fixed by two fixing brackets.
  • the first force sensor 222 and the stamping chassis 2213 are both located between the first support table 11 and the second support table 12, and one end of the first force sensor 222 It is installed on the first support table 11 , and the other end is used to carry the stamping chassis 2213 . In this way, the movement of the stamping chassis 2213 is not affected, and the positions of the components between the surgical instrument force detection device 100 can be reasonably arranged.
  • the stamping member 40 includes a transmission part 41 and a connecting rod part 42 which are connected to each other.
  • the transmission part 41 is installed on the stamping top frame 2211 , and the connecting rod part 42 can pass through the epidermal tissue.
  • the force and/or moment received by the portion 42 can be transmitted to the poke top bracket 2211 through the transmission portion 41 , and transmitted to the poke bottom bracket 2213 by the poke link 2212 , so as to be detected by the first force sensor 222 .
  • the use process of the surgical instrument force detection mechanism is as follows: fix the epidermal tissue on the first fixing table 211, fix the internal tissue on the second fixing table 311, and adjust the relative relationship between the first fixing table 211 and the second fixing table 311.
  • the positional relationship makes the relative positional relationship between the epidermal tissue and the internal tissue approximate to the relative positional relationship between the epidermal tissue and the internal tissue at the patient's lesion during actual surgical operations;
  • the poking clip 40 can pass through the opening on the epidermal tissue,
  • the surgical instrument can extend into the inside of the poking member 40 and protrude from one end of the poking member 40 to contact the internal tissue and perform a surgical simulation operation on the internal tissue.
  • the first force sensor 222 can detect the force and/or torque exerted by the poking member 40 on the epidermal tissue; the surgical instrument protrudes from one end of the poking member 40 and performs a surgical simulation operation on the internal tissue,
  • the second force sensor 321 can detect the force and/or moment received by the internal tissue.
  • the outer circumference of the transmission portion 41 is larger than the outer circumference of the link portion 42 .
  • the contact area between the transmission part 41 and the stamping top bracket 2211 is larger, and the force and/or torque is directly transmitted to the stamping top bracket 2211 relative to the link part 42, and the transmission part 41 is used to transmit the force and/or The torque can increase the accuracy of transmission, so that the force and/or torque measured by the first force sensor 222 is more accurate.
  • the first fixing table 211 and the second fixing table 311 are arranged in parallel, and the link portion 42 is vertically arranged with the first fixing table 211 and the second fixing table 311 .
  • the detection accuracy of the first force sensor 222 and the second force sensor 321 is higher, and the positional conflict between the first fixed table 211 and the second fixed table 311 can be prevented during displacement.
  • the outer diameter of the second fixing table 311 is smaller than the inner diameter of the first fixing table 211 .
  • the table 311 may be lower than the first fixing table 211 , and may also be flush with the first fixing table 211 or higher than the first fixing table 211 , and the operation scenarios that can be simulated are more diverse. It can be understood that, in other embodiments, in order to facilitate fixing the tissue to be detected, the size of the first fixing table 211 and the second fixing table 311 can be designed according to actual needs, and it is not limited that the outer diameter of the second fixing table 311 is smaller than that of the first fixing table 211 inside diameter.
  • the fixing bracket 10 the first detection unit 20
  • components such as the poking clip 40 constitute the force detection mechanism for surgical instruments
  • components such as the fixing bracket 10 and the second detection unit 30 can also constitute the force detection mechanism for surgical instruments, as described in the second and third embodiments.
  • the structure of the second embodiment is roughly the same as that of the first embodiment.
  • the difference is that in this embodiment, the second fixing component 31 and the second force detecting component 32 may not be provided, and only the first fixing component 21 and the first force detecting component 22 are provided. Thereby, the force detection of epidermal tissue or other tissues to be detected is realized.
  • the support rod 212 and the base 213 can be omitted, and the first force sensor 222 directly contacts the first fixing table 211 and detects the force and/or moment on the epidermal tissue.
  • the structure of the third embodiment is roughly the same as that of the first embodiment, the difference is that in this embodiment, the first fixing component 21 and the first force detecting component 22 may not be provided, and only the second fixing component 31 and the second force detecting component 32 are provided, Thus, the force detection of internal tissues or other tissues to be detected is realized.
  • the stamping member 40 may be fixed by the stamping bracket 221, or may be fixed by another structure, and the setting of the stamping bracket 221 is omitted.
  • the stamping member 40 is fixed by the stamping bracket 221, only the stamping top frame 2211 and the stamping link 2212 can be provided, and the stamping bottom bracket 2213 is not provided, and the stamping link 2212 is directly fixed and installed on the fixing bracket 10.
  • epidermal tissue and internal tissue can also be replaced with other tissues to be detected, and are not limited to these two tissues; epidermal tissue and The internal tissue can be selected from animal tissue close to human tissue, for example, pig skin can be used for epidermal tissue, and visceral tissue of pig can be used for internal tissue.
  • the surgical instrument force detection mechanism and the surgical instrument force detection device 100 provided by the present application can simulate the real surgical operation and detect the force of the tissue to be detected, so as to facilitate the optimization of the movement path of the surgical instrument and the application of force to the epidermal tissue and internal tissue
  • the size is beneficial to control the risk of minimally invasive surgery.
  • a first feature "on” or “under” a second feature may be in direct contact with the first feature and the second feature, or the first feature and the second feature through an intermediate indirect contact with the media.
  • first feature being “above”, “over” and “above” the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is level higher than the second feature.
  • a first feature “below”, “below” and “below” a second feature may mean that the first feature is directly or obliquely below the second feature, or simply means that the first feature is level below the second feature.
  • references to the terms “one embodiment,” “some embodiments,” “example,” “specific example,” or “some examples”, etc. means specific features described in connection with the embodiment or example. , structure, material or feature is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.

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Abstract

一种手术器械力检测装置，包括固定支架（10）、第一检测单元（20）、第二检测单元（30）及戳卡件（40），第一检测单元（20）及第二检测单元（30）均安装于固定支架（10）；第一检测单元（20）能够固定表皮组织，且第一检测单元（20）包括第一力传感器（222），第一力传感器（222）能够检测戳卡件（40）施加在表皮组织上的力或力矩；第二检测单元（30）能够固定内部组织，且第二检测单元（30）包括第二力传感器（321），第二力传感器（321）能够检测手术器械施加在内部组织上的力或力矩；戳卡件（40）为中空并能够供手术器械穿设，且戳卡件（40）能够穿过第一检测单元（20）固定的表皮组织，并使得手术器械接触第二检测单元（30）固定的内部组织。该手术器械力检测装置能够仿真模拟微创手术操作时表皮组织与内部组织的受力情况，便于优化移动路径及施力大小。

Description

手术器械力检测装置 技术领域
本申请涉及力检测领域，特别是涉及一种手术器械力检测装置。
背景技术
微创手术的诞生在很大程度上克服了传统外科手术存在的刀口大、出血量大、并发症多以及手术风险大等缺陷。微创手术因为近年来的迅猛发展正逐步获得医务人员与患者的青睐，成为目前医学研究与临床应用的新兴领域。
在进行微创手术时，需要在患者皮肤表面开设微小创口，手术器械通过伸入微小创口达到患者体内，医生通过操纵手术器械，以微小创口为远心不动点执行手术操作，从而达到微创手术的目的。然而，目前微创手术在进行手术操作时，只能凭借医生的行医经验，在超声、内窥镜等方式的引导下进行手术操作，通过表皮组织或内部组织产生的形变来判断手术器械施加的力或力矩的大小，手术过程中可能会对患者伤口增加二次伤害。
由于目前没有针对微创手术的仿真手术器械力检测装置，无法优化手术器械的移动路径以及对表皮组织及内部组织的施力大小，不利于微创手术的进一步发展。
发明内容
根据本申请的各种实施例，提供一种手术器械力检测装置，包括固定支架、第一检测单元、第二检测单元及戳卡件，所述第一检测单元及所述第二检测单元均安装于所述固定支架；所述第一检测单元能够固定表皮组织，且所述第一检测单元包括第一力传感器，所述第一力传感器能够检测所述戳卡件施加在所述表皮组织上的力或力矩；所述第二检测单元能够固定内部组织，且所述 第二检测单元包括第二力传感器，所述第二力传感器能够检测所述手术器械施加在所述内部组织上的力或力矩；所述戳卡件为中空并能够供手术器械穿设，且所述戳卡件能够穿过所述第一检测单元固定的表皮组织，并使得所述手术器械接触所述第二检测单元固定的内部组织。在本申请提供的手术器械力检测装置中，戳卡件能够穿过表皮组织，并使手术器械接触内部组织。本申请提供的手术器械力检测装置能够分别固定并检测表皮组织与内部组织的受力情况，并且表皮组织与内部组织的位置也是相对于戳卡件依次设置的，更加接近微创手术中的手术环境，能够仿真模拟微创手术操作时表皮组织与内部组织的受力情况，便于优化手术器械的移动路径以及施力大小，使得微创手术的风险可控，解决了传统技术中无法检测待检测组织受力情况的问题。
在本申请的一个实施例中，所述第一检测单元包括第一力检测组件及第一固定组件，所述第一力检测组件包括戳卡顶架、戳卡连杆、戳卡底架及所述第一力传感器，所述戳卡顶架与所述戳卡底架之间通过所述戳卡连杆相连，所述戳卡件安装于所述戳卡顶架，所述第一力传感器安装于所述固定支架，且所述第一力传感器与所述戳卡底架连接；所述第一固定组件安装于所述固定支架，且所述第一固定组件用于固定所述表皮组织；所述戳卡顶架能够将所述戳卡件受到的力或力矩通过所述戳卡连杆传递至所述戳卡底架，且所述第一力传感器能够检测所述戳卡底架受到的力或力矩。本申请中的戳卡支架包括戳卡顶架、戳卡连杆以及戳卡底架，戳卡顶架能够对戳卡件受到的力及/或力矩放大，然后经过戳卡连杆传递至戳卡底架对应的位置，由戳卡底架将力或力矩缩小并传递至第一力传感器。相较于直接传递较小的力及/或力矩，这样的力传递方式能够将戳卡件受到的力和力矩更加精确地传递至第一力传感器。
在本申请的一个实施例中，所述戳卡件包括相互连接的传动部及连杆部， 所述传动部安装于所述戳卡顶架，所述连杆部能够穿过所述表皮组织，所述连杆部受到的力或力矩能够通过所述传动部传递至所述第一检测单元；所述传动部的外周尺寸大于所述连杆部的外周尺寸。传动部的外周尺寸大于连杆部的外周尺寸，使得传动部与戳卡顶架之间的接触面积更大，相对于连杆部直接将力及/或力矩传递给戳卡顶架，利用传动部传递力及/或力矩能够增加传递的精度，使得第一力传感器测得的力及/或力矩更加精确。
在本申请的一个实施例中，所述戳卡连杆的个数为四个；及/或，所述戳卡连杆能够伸缩，并改变所述戳卡顶架与所述第一固定组件之间的距离。戳卡连杆为四个且周向均匀分布，能够具有较好的传力效果，并且能够兼顾成本。
在本申请的一个实施例中，所述第二检测单元还包括第二固定台，所述第二固定台连接于所述第二力传感器，所述第二固定台用于固定所述内部组织，且所述第二力传感器能够检测所述第二固定台上的所述内部组织受到的力或力矩；所述固定支架包括第一支撑台及第二支撑台，所述第一支撑台用于承载所述第一固定组件、所述第二固定组件及所述第二力传感器，所述第二支撑台用于承载所述第一力检测组件。将第一固定组件和第一力检测组件分别放置在第一支撑台和第二支撑台上，能够避免第一支撑台晃动或震动并影响第一力检测组件的检测精度，保证测得的力及/或力矩的准确性。
在本申请的一个实施例中，所述第一固定组件包括第一固定台、支撑杆及底座，所述第一固定台与所述底座通过所述支撑杆连接，所述底座安装于所述第二支撑台；所述支撑杆能够伸缩，并改变所述第一固定台与所述第二固定台之间的距离。通过第一固定组件固定待检测组织，便于操作，固定方式简单；支撑杆能够伸缩，并改变所述第一固定台与其他部件之间的位置关系，使得待检测组织的位置可调，便于仿真模拟手术情况，进行力学试验。
在本申请的一个实施例中，所述第一力传感器及所述戳卡底架均位于所述第一支撑台与所述第二支撑台之间，所述第一力传感器的一端安装于所述第一支撑台，另一端用于承载所述戳卡底架。将第一力传感器及戳卡底架均设置在第一支撑台与第二支撑台之间，既不会影响戳卡底架的运动，又能够合理布局手术器械力检测装置之间各部件的位置。
在本申请的一个实施例中，所述底座能够在所述第二支撑台上移动。如此设置，能够更加灵活地改变表皮组织与内部组织的相对位置，使得表皮组织与内部组织的相对位置关系更加接近真实手术，从而检测出更加准确的数值。
在本申请的一个实施例中，所述第二力检测组件安装于所述底座。将第二力检测组件直接安装于底座，便于第二力检测组件的安装和使用，并且手术器械力检测装置结构较为简单，生产成本低。
在本申请的一个实施例中，所述第一力传感器为六维力传感器；及/或，所述第二力传感器为S型测力传感器。第一力传感器采用六维力传感器，能够同时测量三个力分量和三个力矩分量，灵敏度高、刚性好、测得的数据信息准确。第二力传感器采用S型测力传感器，S型测力传感器能够检测拉力和压力情况，体积较小便于安装，且抗偏载能力强，精度高，测量范围较大。
在本申请提供的手术器械力检测装置中，能够分别固定并检测表皮组织与内部组织的受力情况，并且表皮组织与内部组织的位置也是相对于戳卡件依次设置的，更加接近微创手术中的手术环境，能够仿真模拟微创手术操作时表皮组织与内部组织的受力情况，便于优化手术器械的移动路径以及施力大小。
附图说明
传统传统为了更好地描述和说明这里公开的那些发明的实施例和/或示例，可以参考一幅或多幅附图。用于描述附图的附加细节或示例不应当被认为 是对所公开的发明、目前描述的实施例和/或示例以及目前理解的这些发明的最佳模式中的任何一者的范围的限制。
图1为本申请实施例一中手术器械力检测装置的结构示意图。
图2为图1所示手术器械力检测装置在另一角度下的结构示意图。
100、手术器械力检测装置；10、固定支架；11、第一支撑台；12、第二支撑台；20、第一检测单元；21、第一固定组件；211、第一固定台；212、支撑杆；213、底座；22、第一力检测组件；221、戳卡支架；2211、戳卡顶架；2212、戳卡连杆；2213、戳卡底架；222、第一力传感器；30、第二检测单元；31、第二固定组件；311、第二固定台；32、第二力检测组件；321、第二力传感器；40、戳卡件；41、传动部；42、连杆部。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连 接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，也可以是成一体；可以是机械连接，也可以是电连接，也可以是通讯连接；可以是直接连接，也可以通过中间媒介的间接连接，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。下面以具体地实施例对本申请的技术方案进行详细说明。下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例不再赘述。
微创手术的诞生在很大程度上克服了传统外科手术存在的刀口大、出血量大、并发症多以及手术风险大等缺陷。微创手术因为近年来的迅猛发展正逐步获得医务人员与患者的青睐，成为目前医学研究与临床应用的新兴领域。
在进行微创手术时，需要在患者皮肤表面开设微小创口，手术器械通过伸入微小创口达到患者体内，医生通过操纵手术器械，以微小创口为远心不动点执行手术操作，从而达到微创手术的目的。
需要特别说明的是，本文所称的远心不动点，是指在手术器械沿其长度方向选取的一个固定的不动点，实际手术过程中手术器械所进行的运动具有绕该点摆动的规律性，而该点不发生位移。具体表现在手术器具的摆动会以该远心不动点作为摆动中心，手术器械的前后伸缩运动会沿着该远心不动点运动。在实际手术过程中，远心不动点的位置即为手术中人体表皮组织处的创口位置；手术器械所进行的运动具有相对该远心不动点的规律性的目的，是保证在手术器械的运动过程中，不会因为器械的运动而扩大人体创口的面积，这是微创手术的前提。需要额外强调的是，在实际手术的进行中远心不动点的位置并非一定固定，远心不动点的位置在单次的手术操作中是选定的，而在不同次的手术操作中是可变化的。例如医生在不同处的创口进行手术操作，这两次创口所进 行的手术操作就会使得控制设备根据实际的手术器械长度等参数在不同时间段选定不同位置的远心不动点，只要保证在单次的手术操作下的运动形成相对远心不动点的规律性运动即可。
然而，目前微创手术在进行手术操作时，只能凭借医生的行医经验，在超声、内窥镜等方式的引导下进行手术操作，通过表皮组织或内部组织产生的形变来判断手术器械施加的力及/或力矩的大小，手术过程中可能会对患者伤口增加二次伤害。
由于目前还没有针对微创手术的仿真手术器械力检测装置，无法优化手术器械的移动路径以及对表皮组织及内部组织的施力大小，微创手术的风险不易控制。
请参阅图1及图2，图1为本申请实施例一中手术器械力检测装置100的结构示意图；图2为图1所示手术器械力检测装置100在另一角度下的结构示意图。
手术器械力检测装置100包括固定支架10、第一检测单元20、第二检测单元30以及戳卡件40，第一检测单元20及第二检测单元30均安装于固定支架10，第一检测单元20与第二检测单元30能够分别固定表皮组织与内部组织，且第一检测单元20能够检测作用在表皮组织上的力及/或力矩，第二检测单元30能够检测作用在内部组织上的力及/或力矩；戳卡件40为中空并能够供手术器械穿设，且戳卡件40能够穿过第一检测单元20固定的表皮组织，并使手术器械接触第二检测单元30固定的内部组织。在本申请提供的手术器械力检测装置100能够分别固定并检测表皮组织与内部组织的受力情况，并且表皮组织与内部组织的位置也是相对于戳卡件40依次设置的，更加接近微创手术中的手术环境，能够仿真模拟微创手术操作时表皮组织与内部组织的受力情况，便于优 化手术器械的移动路径以及施力大小。
固定支架10用于承载第一检测单元20和第二检测单元30，为了便于第一检测单元20和第二检测单元30的安装和设置，固定支架10采用多根型材拼接而成，型材可以是金属型材，也可以是塑料型材。
第一检测单元20包括第一固定组件21和第一力检测组件22，第一固定组件21用于固定表皮组织，第一力检测组件22能够检测表皮组织受到的力及/或力矩。
第一固定组件21包括第一固定台211、支撑杆212及底座213，所述第一固定台211与所述底座213通过所述支撑杆212连接，第一固定台211用于固定表皮组织，底座213能够固定安装于固定支架10。
可以理解，在其他实施例中，也可以不设置底座213，支撑杆212可以直接固定于固定支架10；还可以不设置支撑杆212及底座213，第一固定台211直接固定连接于第一力检测组件22。
为了使得表皮组织、内部组织以及戳卡件40之间的位置关系更加接近手术时手术器械与患者病灶的真实位置关系，在本实施例中，支撑杆212能够伸缩，并改变所述第一固定台211与其他部件之间的位置关系，使得表皮组织的位置可调，便于仿真模拟手术情况，进行力学试验。可以理解，支撑杆212可以同步伸缩，也可以根据实际需要，使得每个支撑杆212伸缩不同的距离。在其他实施例中，支撑杆212也可以是固定的，不一定必须可调；当然，也可以通过其他方式改变第一固定台211的位置，例如通过改变底座213的高度来改变第一固定台211的位置，在此不做限定。
在本实施例中，第一固定台211为方环形，第一固定组件21还包括第一固定件(图未示)，第一固定件能够将表皮组织固定在第一固定台211上，戳卡 件40能够穿过表皮组织；支撑杆212为四个，且分别位于第一固定台211的四个角处。可以理解，在其他实施例中，第一固定台211也可以是其他形状，支撑杆212也可以多于或少于四根。
第一力检测组件22包括第一力传感器222，第一力传感器222直接或间接地连接于第一固定台211，并能够检测表皮组织受到的力及/或力矩。
为了获取更加详细精确的力检测信息，在本实施例中，第一力检测组件22优选为六维力传感器。可以理解，在其他实施例中，也可以根据实际需要选择三维力传感器，或者其他常见的力传感器，在此不做限定。
为了能够模拟更多的手术情况，本申请中的表皮组织面积较大；为了更加精准地测得表皮组织的受力，在本实施例中，第一力检测组件22还包括戳卡支架221，戳卡支架221包括戳卡顶架2211、戳卡连杆2212以及戳卡底架2213，所述戳卡顶架2211与所述戳卡底架2213之间通过所述戳卡连杆2212相连，所述戳卡件40安装于所述戳卡顶架2211，所述第一力传感器222安装于所述固定支架10，且所述第一力传感器222与所述戳卡底架2213连接；所述第一固定组件21安装于所述固定支架10，且所述第一固定组件21用于固定所述表皮组织；所述戳卡顶架2211能够将所述戳卡件40受到的力及/或力矩通过所述戳卡连杆2212传递至所述戳卡底架2213，且所述第一力传感器222能够检测所述戳卡底架2213受到的力及/或力矩。如此设置，能够更加精准地检测戳卡件40作用于表皮组织上的力，也即表皮组织受到的力，并且第一力传感器222的位置可选择性较多，无需一定直接设置在第一固定组件21上。
在本实施例中，戳卡连杆2212为四个，且四个戳卡连杆2212周向均匀分布于戳卡顶架2211与戳卡底架2213之间，具有较好的传力效果，并且能够兼顾成本。可以理解，在其他实施例中，戳卡连杆2212也可以多于或少于四根。
进一步的，为了更加方便地调整戳卡件40的位置，在本实施例中，戳卡连杆2212能够伸缩，并改变所述戳卡顶架2211与所述第一固定组件21以及其他部件之间的相对位置关系。可以理解，戳卡连杆2212可以同步伸缩，也可以根据实际需要，使得每个戳卡连杆2212伸缩不同的距离；并且在其他实施例中，戳卡连杆2212也可以为固定长度，通过调整其他部件的位置关系来实现手术仿真模拟操作。
为了更好地传递戳卡件40受到的力及/或力矩，在本实施例中，戳卡顶架2211及戳卡底架2213优选为圆环形，且圆环形的内部设置有十字连接板，戳卡件40设置在戳卡顶架2211的十字连接板中心，第一力传感器222设置在戳卡底架2213的十字连接板中心，戳卡顶架2211能够对戳卡件40受到的力及/或力矩放大，然后经过戳卡连杆2212传递至戳卡底架2213对应的位置，由戳卡底架2213将力或力矩缩小并传递至第一力传感器222。如此设置，相较于直接传递较小的力及/或力矩，这样的力传递方式能够将戳卡件40受到的力和力矩更加精确地传递至第一力传感器222。
为了进一步提高力的传递精度，在本实施例中，戳卡顶架2211和戳卡底架2213的形状、大小、材质均相同，且安装角度也相同；每个戳卡连杆2212的形状、大小、材质也相同，并且戳卡连杆2212在戳卡顶架2211与戳卡底架2213之间周向均匀分布，并且戳卡连杆2212的分布位置相对靠近戳卡顶架2211与戳卡底架2213的外周。如此设置，不仅能够提高力的传递精度，还可以减少生产成本，戳卡顶架2211和戳卡底架2213可以同时生产。
第二检测单元30包括第二固定组件31和第二力检测组件32，第二固定组件31用于固定内部组织，第二力检测组件32能够检测内部组织受到的力及/或力矩。
为了减少产品的生产成本，在本实施例中，第二固定组件31包括第二固定台311，第二力检测组件32包括第二力传感器321，第二固定台311用于固定内部组织，第二力传感器321用于检测内部组织受到的力及/或力矩；第二固定台311设置在第二力传感器321上，第二力传感器321设置在第二支撑台12上。如此设置，能够简化第二检测单元30的构成，降低手术器械力检测机构的生产成本，并且第二固定台311与第二力传感器321的位置相对固定，便于定位、校准和使用。
可以理解，在其他实施例中，第二固定组件31可以采用更加复杂的结构以实现更多功能，例如像第一固定组件21一样设置支撑杆和底座，且通过调节支撑杆的伸缩长度来调节第二固定台311的高度，从而使得调节方式更加灵活，并且表皮组织与内部组织的位置关系更加接近实际手术操作时患者病灶处表皮组织与内部组织的位置关系。
为了更好地固定内部组织，在本实施例中，所述第二固定台311上开设有凹槽(未标号)，所述凹槽的周边设置有第二固定件(图未示)，所述第二固定件能够将所述内部组织固定在所述第二固定台311上，并部分覆盖或完全覆盖所述凹槽。
在本实施例中，为了降低生产成本，第二力传感器321固定设置在第一固定组件21的底座213上。可以理解，在其他实施例中，为了使表皮组织与内部组织的相对位置关系更加接近真实手术，可以在第二支撑台12上设置滑动组件(图未示)，第一固定组件21及/或第二固定组件31利用滑动组件在第二支撑台12上运动。如此设置，能够更加灵活地改变表皮组织与内部组织的相对位置，使得表皮组织与内部组织的相对位置关系更加接近真实手术，从而检测出更加准确的数值。
可以理解，在其他实施方式中，也可以通过改变第二固定组件31的相对位置，使得表皮组织与内部组织的相对位置关系更加接近真实手术，在此不做赘述。
在本实施例中，第二力检测组件32优选为S型测力传感器，且S型测力传感器位于第二固定台311的凹槽的下侧。可以理解，在其他实施例中，为了获取更加详细精确的力检测信息，也可以选择六维力传感器，或者其他常见的力传感器，在此不做限定。
为了便于第一检测单元20与第二检测单元30安装，且便于检测表皮组织与内部组织受到的力及/或力矩，在本实施例中，第一支撑台11与第二支撑台12分别固定安装于固定支架10的多根型材上，且第一支撑台11位于第二支撑台12的上方。第一支撑台11用于承载第一固定组件21、第二固定组件31及第二力检测组件32，第二支撑台12用于承载第一力检测组件22。如此设置，戳卡件40、第一固定台211、第二固定台311、第二力传感器321以及第一力传感器222能够在竖直方向上依次设置，手术器械力检测装置100中各部件的排布合理，占地面积小，有利于手术器械力检测装置100向小型化方向发展。可以理解，在其他实施例中，固定支架也可以为两个，第一支撑台11与第二支撑台12也可以分别由两个固定支架固定。
在本实施例中，所述第一力传感器222及所述戳卡底架2213均位于所述第一支撑台11与所述第二支撑台12之间，所述第一力传感器222的一端安装于所述第一支撑台11，另一端用于承载所述戳卡底架2213。如此设置，既不会影响戳卡底架2213的运动，又能够合理布局手术器械力检测装置100之间各部件的位置。
戳卡件40包括相互连接的传动部41及连杆部42，所述传动部41安装于 所述戳卡顶架2211，所述连杆部42能够穿过所述表皮组织，所述连杆部42受到的力及/或力矩能够通过所述传动部41传递至所述戳卡顶架2211，并由戳卡连杆2212传递至戳卡底架2213，从而被第一力传感器222检测。
手术器械力检测机构的使用过程为：将表皮组织固定在第一固定台211上，将内部组织固定在第二固定台311上，调节第一固定台211与第二固定台311之间的相对位置关系，使得表皮组织与内部组织之间的相对位置关系近似于真实手术操作时患者病灶处的表皮组织与内部组织之间的相对位置关系；戳卡件40能够穿过表皮组织上的开口，手术器械能够伸入戳卡件40的内部并从戳卡件40的一端伸出，接触内部组织并对内部组织进行手术仿真模拟操作。根据微创手术具有远心不动点的特点，在进行手术仿真模拟时，以表皮组织上的开口为远心不动点，手术器械以远心不动点为摆动中心进行运动，且手术器械能够带动戳卡件40运动，第一力传感器222能够检测戳卡件40对表皮组织施加的力及/或力矩；手术器械从戳卡件40的一端伸出并对内部组织进行手术仿真操作，第二力传感器321能够检测内部组织受到的力及/或力矩。
为了使得戳卡件40能加容易地带动戳卡顶架2211运动，在本实施例中，所述传动部41的外周尺寸大于所述连杆部42的外周尺寸。如此设置，传动部41与戳卡顶架2211之间的接触面积更大，相对于连杆部42直接将力及/或力矩传递给戳卡顶架2211，利用传动部41传递力及/或力矩能够增加传递的精度，使得第一力传感器222测得的力及/或力矩更加精确。
在本实施例中，第一固定台211与第二固定台311平行设置，连杆部42与第一固定台211及第二固定台311均垂直设置。如此设置，第一力传感器222及第二力传感器321的检测精度更高，并且能够防止第一固定台211与第二固定台311在位移时产生位置冲突。
为了使得第一固定台211与第二固定台311之间的相对位置更加灵活，在本实施例中，第二固定台311的外径小于第一固定台211的内径，如此设置，第二固定台311可以低于第一固定台211，也可以与第一固定台211平齐或高于第一固定台211，能够模拟的手术场景更加多样化。可以理解，在其他实施例中，为了便于固定待检测组织，第一固定台211与第二固定台311可以根据实际需求设计大小，并不限于第二固定台311的外径小于第一固定台211的内径。
需要特别说明的是，由于微创手术的手术形式和手术方式多变，有时仅需要检测某一种组织的受力情况，在这种情况下，可以将固定支架10、第一检测单元20、戳卡件40等部件组成手术器械力检测机构使用，也可以将固定支架10、第二检测单元30等部件组成手术器械力检测机构使用，如实施例二和实施例三所述。
实施例二
实施例二与实施例一的结构大致相同，区别在于，本实施例中可以不设置第二固定组件31和第二力检测组件32，仅设置第一固定组件21以及第一力检测组件22，从而实现对表皮组织或其他待检测组织的受力检测。
可以理解，在该实施例中，可以省略支撑杆212及底座213，第一力传感器222直接与第一固定台211接触并检测表皮组织受到的力及/或力矩。
实施例三
实施例三与实施例一的结构大致相同，区别在于，本实施例中可以不设置第一固定组件21和第一力检测组件22，仅设置第二固定组件31以及第二力检测组件32，从而实现对内部组织或其他待检测组织的受力检测。
可以理解，在该实施例中，戳卡件40可以由戳卡支架221固定，也可以由另外的结构固定，省略戳卡支架221的设置。当戳卡件40由戳卡支架221固 定时，也可以仅设置戳卡顶架2211及戳卡连杆2212，不设置戳卡底架2213，戳卡连杆2212直接固定安装于固定支架10。
需要特别说明的是，无论在实施例一中，还是在实施例二和实施例三中，表皮组织和内部组织也可以替换为其他需要检测的组织，并不仅限于这两种组织；表皮组织和内部组织可以选用接近人体组织的动物组织，如表皮组织可以使用猪皮，内部组织可以使用猪的内脏组织等。
本申请提供的手术器械力检测机构以及手术器械力检测装置100能够仿真模拟真实的手术操作并检测待检测组织的受力情况，便于优化手术器械的移动路径以及对表皮组织及内部组织的施力大小，有利于控制微创手术的风险。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一特征和第二特征直接接触，或第一特征和第二特征通过中间媒介间接接触。
而且，第一特征在第二特征“之上”、“上方”和“上面”可以是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度低于第二特征。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”或“一些示例”等的描述，意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任意一个或者多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合 和组合。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (10)

  1. 一种手术器械力检测装置，其特征在于，包括固定支架、第一检测单元、第二检测单元及戳卡件，所述第一检测单元及所述第二检测单元均安装于所述固定支架；所述第一检测单元能够固定表皮组织，且所述第一检测单元包括第一力传感器，所述第一力传感器能够检测所述戳卡件施加在所述表皮组织上的力或力矩；所述第二检测单元能够固定内部组织，且所述第二检测单元包括第二力传感器，所述第二力传感器能够检测所述手术器械施加在所述内部组织上的力或力矩；
    所述戳卡件为中空并能够供手术器械穿设，且所述戳卡件能够穿过所述第一检测单元固定的表皮组织，并使得所述手术器械接触所述第二检测单元固定的内部组织。
  2. 根据权利要求1所述的手术器械力检测装置，其特征在于，所述第一检测单元包括第一力检测组件及第一固定组件，所述第一力检测组件包括戳卡顶架、戳卡连杆、戳卡底架及所述第一力传感器，所述戳卡顶架与所述戳卡底架之间通过所述戳卡连杆相连，所述戳卡件安装于所述戳卡顶架，所述第一力传感器安装于所述固定支架，且所述第一力传感器与所述戳卡底架连接；所述第一固定组件安装于所述固定支架，且所述第一固定组件用于固定所述表皮组织；
    所述戳卡顶架能够将所述戳卡件受到的力或力矩通过所述戳卡连杆传递至所述戳卡底架，且所述第一力传感器能够检测所述戳卡底架受到的力或力矩。
  3. 根据权利要求2所述的手术器械力检测装置，其特征在于，所述戳卡件包括相互连接的传动部及连杆部，所述传动部安装于所述戳卡顶架，所述连杆部能够穿过所述表皮组织，所述连杆部受到的力或力矩能够通过所述传动部传递至所述第一检测单元；
    所述传动部的外周尺寸大于所述连杆部的外周尺寸。
  4. 根据权利要求2所述的手术器械力检测装置，其特征在于，所述戳卡连杆的个数为四个；及/或，
    所述戳卡连杆能够伸缩，并改变所述戳卡顶架与所述第一固定组件之间的距离。
  5. 根据权利要求2所述的手术器械力检测装置，其特征在于，所述第二检测单元还包括第二固定台，所述第二固定台连接于所述第二力传感器，所述第二固定台用于固定所述内部组织，且所述第二力传感器能够检测所述第二固定台上的所述内部组织受到的力或力矩；
    所述固定支架包括第一支撑台及第二支撑台，所述第一支撑台用于承载所述第一固定组件、所述第二固定组件及所述第二力传感器，所述第二支撑台用于承载所述第一力检测组件。
  6. 根据权利要求5所述的手术器械力检测装置，其特征在于，所述第一固定组件包括第一固定台、支撑杆及底座，所述第一固定台与所述底座通过所述支撑杆连接，所述底座安装于所述第二支撑台；
    所述支撑杆能够伸缩，并改变所述第一固定台与所述第二固定台之间的距离。
  7. 根据权利要求5所述的手术器械力检测装置，其特征在于，所述第一力传感器及所述戳卡底架均位于所述第一支撑台与所述第二支撑台之间，所述第一力传感器的一端安装于所述第一支撑台，另一端用于承载所述戳卡底架。
  8. 根据权利要求6所述的手术器械力检测装置，其特征在于，所述底座能够在所述第二支撑台上移动。
  9. 根据权利要求6所述的手术器械力检测装置，其特征在于，所述第二力检 测组件安装于所述底座。
  10. 根据权利要求1所述的手术器械力检测装置，其特征在于，所述第一力传感器为六维力传感器；及/或，
    所述第二力传感器为S型测力传感器。
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