WO2024104486A1 - 一种末端定位的多自由度柔性活检钳 - Google Patents
一种末端定位的多自由度柔性活检钳 Download PDFInfo
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- WO2024104486A1 WO2024104486A1 PCT/CN2023/132711 CN2023132711W WO2024104486A1 WO 2024104486 A1 WO2024104486 A1 WO 2024104486A1 CN 2023132711 W CN2023132711 W CN 2023132711W WO 2024104486 A1 WO2024104486 A1 WO 2024104486A1
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- biopsy forceps
- traction wire
- fbg
- spring tube
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- 238000001574 biopsy Methods 0.000 title claims abstract description 53
- 238000005452 bending Methods 0.000 claims abstract description 16
- 239000013307 optical fiber Substances 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000005461 lubrication Methods 0.000 claims description 10
- 230000001050 lubricating effect Effects 0.000 abstract 2
- 230000002159 abnormal effect Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005070 sampling Methods 0.000 description 3
- 238000001228 spectrum Methods 0.000 description 3
- 101001121408 Homo sapiens L-amino-acid oxidase Proteins 0.000 description 2
- 102100026388 L-amino-acid oxidase Human genes 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000000338 in vitro Methods 0.000 description 2
- 230000003902 lesion Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 210000003437 trachea Anatomy 0.000 description 2
- 101100012902 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) FIG2 gene Proteins 0.000 description 1
- 101100233916 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) KAR5 gene Proteins 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001575 pathological effect Effects 0.000 description 1
- 230000007170 pathology Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/06—Biopsy forceps, e.g. with cup-shaped jaws
Definitions
- the invention relates to a multi-freedom flexible biopsy forceps with end positioning.
- Biopsy is the abbreviation of "living tissue examination”, also known as surgical pathology examination. It refers to the technology of removing diseased tissue from the patient's body by cutting, clamping or puncturing for pathological examination in response to the needs of diagnosis and treatment.
- the positioning of the biopsy forceps requires the operation of a guide tube.
- the guide tube is inserted into the trachea to form a fixed channel.
- the biopsy forceps enter the trachea along the fixed channel for sampling. Due to the large size of the guide tube, it is difficult to penetrate deep into the airway.
- Traditional biopsy forceps do not have the function of self-steering, so they cannot obtain deep lesions.
- traditional biopsy forceps can only clamp the front tissue, which easily causes normal tissue to be clamped, destroying normal cells in the airway, and is inefficient.
- the present invention proposes a multi-degree-of-freedom flexible biopsy forceps with terminal positioning, which allows the head of the biopsy forceps to accurately locate the variant tissue in the airway and sample deeper parts of the airway.
- the head structure includes a biopsy forceps body and a head shell;
- the end portion structure includes an end shell, an end handpiece and a manual fixing portion;
- the middle part structure includes an FBG traction wire, the outer layer of the FBG traction wire is sleeved with a lubrication tube, the front end of the lubrication tube is sleeved with a magnetic control spring tube, and the rear end of the lubrication tube is sleeved with a spring tube;
- One end of the magnetically controlled spring tube is connected to the head shell, and the other end is connected to one end of the spring tube, and the other end of the spring tube is connected to the end shell, and the manual fixing part is connected to the end shell;
- one end of the FBG traction wire is connected to the biopsy forceps body, and the other end passes through the hole in the middle of the end shell and is connected to the end handpiece, and the end handpiece slides inside the end shell, and then drives the biopsy forceps body to move through the FBG traction wire;
- the magnetron spring tube is bent under the control of an externally loaded magnetic force. After the magnetron spring tube is bent, it will drive the FBG traction wire to bend synchronously.
- the FBG traction wire is an optical fiber sensor that can sense the deformation in the bending direction. The corresponding relationship between the magnetic force and the bending of the spring tube is obtained through the feedback of the FBG optical fiber sensor, and then the magnetic force is adjusted to control the bending angle of the magnetron spring tube.
- the biopsy forceps body comprises two clamps, two transmission connectors and a traction wire connector
- the holes in the middle parts of the two clamps are connected to the hole on the top of the head shell through a first connecting shaft
- the ends of the two clamps are respectively connected to one end of a transmission connector through a second connecting shaft
- the ends of the two transmission connectors are connected to the traction wire connector through a third connecting shaft
- the traction wire connector is connected to the end of the FBG traction wire.
- a through slot is provided on the terminal housing, and the FBG traction wire extends into the through slot and is fixedly connected to the terminal handpiece.
- the above-mentioned end handpiece includes a cylindrical hand-held portion.
- both side end surfaces of the cylindrical handle are provided with ribs, and the connection between the ribs and the handle is provided with a rounded connection surface.
- the manual fixing portion is rotatable relative to the terminal housing.
- the head shell comprises a tubular structure and two clips, the two clips are arranged opposite to each other, and one end of the two clips is fixed to the top of the tubular structure, and the two clips are located between the two clips.
- the traction wire connector is located in the tubular structure of the head shell, and the traction wire connector can slide along the channel in the tubular structure.
- the first connecting shaft is fixed on two clips.
- the manual fixing portion comprises a ring structure.
- the magnetic force control is first performed in vitro to realize the bending operation of the magnetically controlled spring tube.
- the FBG traction wire is driven to bend synchronously.
- the FBG is an optical fiber sensor that can sense the deformation in the bending direction.
- the feedback function of the FBG optical fiber sensor can sense the influence of the magnetic force on the spring tube, and then the magnetic force is adjusted to realize accurate sampling of deeper parts of the airway, so that the head of the biopsy forceps can accurately locate the variant tissue in the airway, and finally the head of the biopsy forceps is opened and closed by sliding the end handpiece to obtain tissue.
- FIG1 is a structural diagram of the head of a multi-degree-of-freedom flexible biopsy forceps with terminal positioning provided by the present invention
- FIG2 is a structural diagram of the middle part of the multi-degree-of-freedom flexible biopsy forceps with terminal positioning provided by the present invention.
- FIG. 3 is a structural diagram of the end portion of the multi-degree-of-freedom flexible biopsy forceps with end positioning provided by the present invention.
- 1-FBG traction wire 1-FBG traction wire, 2-lubrication tube, 3-magnetically controlled spring tube, 4-spring tube, 5-end shell, 6-manual fixing part, 7-end handpiece, 8-clamp, 9-transmission connecting piece, 10-traction wire connecting piece, 11-first connecting shaft, 12-second connecting shaft, 13-third connecting shaft, 14-clamp, 15-tubular structure.
- a multi-degree-of-freedom flexible biopsy forceps with terminal positioning includes a head structure, a middle part structure, and a terminal part structure.
- the head structure includes a biopsy forceps body and a head shell; the end part structure includes an end shell 5, an end handpiece 7 and a manual fixing part 6.
- the middle part structure includes an FBG traction wire 1, the outer layer of the FBG traction wire 1 is sleeved with a lubrication tube 2, the front end of the lubrication tube 2 is sleeved with a magnetic control spring tube 3, and the rear end of the lubrication tube 2 is sleeved with a spring tube 4.
- One end of the magnetically controlled spring tube 3 is connected to the head shell, and the other end is connected to one end of the spring tube 4, the other end of the spring tube 4 is connected to the end shell 5, and the manual fixing part 6 is connected to the end shell 5;
- one end of the FBG traction wire 1 is connected to the biopsy forceps body, and the other end passes through the hole in the middle of the end shell 5 and is connected to the end handpiece 7, and the end handpiece 7 slides inside the end shell 5, and then drives the biopsy forceps body to move through the FBG traction wire 1;
- the magnetron spring tube 3 is bent by externally loaded magnetic force control. After the magnetron spring tube 3 is bent, it will drive the FBG traction wire 1 to bend synchronously.
- the FBG traction wire 1 is an optical fiber sensor that can sense the deformation in the bending direction. The corresponding relationship between the magnetic force and the bending of the spring tube 4 is obtained through the feedback of the FBG optical fiber sensor, and then the magnetic force is adjusted to control the bending angle of the magnetron spring tube 3.
- the externally loaded magnetic force is implemented by a magnetic force control part, and the magnetic force control part is controlled and implemented by a controllable multi-degree-of-freedom mechanical arm and a permanent magnet at its end.
- a miniature camera with the same structure will be used to explore the path.
- the multi-degree-of-freedom robotic arm and the permanent magnet at its end apply magnetic force to the magnetron spring tube 3 to make it bend at the turning point.
- the real-time image captured by the camera and the steering controlled by the robotic arm are used for feedback so that the camera can reach the target location.
- the robotic arm will record the operation process and then convert it into a path code.
- the path and action process recorded by the robotic arm will be repeated to make the biopsy forceps reach the target location.
- the principle of FBG optical fiber sensing is: after the light is transmitted, the wavelength that meets the Bragg condition will be reflected by the grating, and the spectrum will be analyzed by the demodulator.
- the FBG traction wire 1 is composed of two FBGs. When it is bent, the tightness of the grating will change. After being reflected from both sides, the spectrum will be analyzed by the demodulator, and then the bending direction and angle will be determined based on the spectrum. Its main function is: since there is no real-time image monitoring when the biopsy forceps is working, it is impossible to determine whether it is turning according to the path of the robotic arm, so FBG is used for monitoring.
- the biopsy forceps body includes two clamps 8, two transmission connectors 9 and a traction wire connector 10.
- the holes in the middle of the two clamps 8 are connected to the holes on the top of the head shell through a first connecting shaft 11, so that the two clamps 8 are hinged.
- the ends of the two clamps 8 are respectively connected to one end of a transmission connector 9 through a second connecting shaft 12, and the ends of the two transmission connectors 9 are connected to the traction wire connector 10 through a third connecting shaft 13.
- the traction wire connector 10 is connected to the end of the FBG traction wire 1. When the FBG traction wire 1 moves downward, it drives the traction wire connector 10 to move downward, and then the transmission connector 9 drives the two clamps 8 to rotate around the first connecting shaft 11 to achieve the clamping action.
- a through slot is provided on the terminal housing 5 , and the FBG traction wire 1 extends into the through slot and is fixedly connected to the terminal handpiece 7 .
- the end handpiece 7 comprises a cylindrical hand-held part, and the end faces of the cylindrical hand-held part are provided with ribs, and the connection between the ribs and the hand-held part is provided with a rounded connection surface.
- the cylindrical hand-held part is convenient for fingers to grasp, and the ribs are convenient for operators to exert force.
- the manual fixing part 6 is rotatably connected to the terminal housing 5, so that the manual fixing part 6 can rotate relative to the terminal housing 5.
- the manual fixing part 6 includes a ring structure, which is convenient for the operator to grasp by hand. The operator can pass a finger through the ring structure to prevent the manual fixing part 6 from being separated from the operator's hand during operation.
- the head shell includes a tubular structure 15 and two clips 14, the two clips 14 are arranged opposite to each other, a gap is formed between the two clips 14, two clips 8 are located between the gaps of the two clips 14, and one end of the two clips 14 is fixed to the top of the tubular structure 15.
- the first connecting shaft 11 is fixed to the two clips 14.
- the traction wire connector 10 is located in the tubular structure 15 of the head shell, and the traction wire connector 10 can slide along the channel in the tubular structure 15 .
- the working principle of the multi-degree-of-freedom flexible biopsy forceps with terminal positioning proposed by the present invention is:
- the manual fixing part 6 needs to be fixed by hand, and then the end handpiece 7 can slide on the end shell 5 and be controlled manually.
- the end handpiece 7 slides, it will drive the FBG traction wire 1 to slide synchronously.
- the head of the FBG traction wire 1 is connected to the traction wire connector 10 of the biopsy forceps.
- the FBG traction wire 1 slides, it will drive the movement of the biopsy forceps body to realize the opening and closing of the head clamp 8.
- the magnetic force loaded in vitro will first be used to control the magnetic force to bend the magnetron spring tube.
- FBG is an optical fiber sensor that can sense the deformation in the bending direction.
- the feedback function of the FBG optical fiber sensor can sense the influence of the magnetic force on the magnetron spring tube, and then adjust the magnetic force so that the head of the biopsy forceps can accurately locate the variant tissue in the airway.
- the head of the biopsy forceps is opened and closed by sliding the end handpiece to obtain the tissue.
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Abstract
一种末端定位的多自由度柔性活检钳，包括头部结构、中间部位结构、末端部位结构；头部结构包括活检钳钳体和头部外壳；末端部位结构包括末端外壳（5）、末端手持件（7）以及手动固定部位（6）；中间部位结构包括FBG牵引丝（1），FBG牵引丝（1）的外层套设润滑管（2），润滑管（2）上套设磁控弹簧管（3）和弹簧管（4）；磁控弹簧管（3）通过外部加载的磁力控制进行弯曲，磁控弹簧管（3）弯曲后会带动FBG牵引丝（1）同步进行弯曲，FBG牵引丝（1）为光纤传感，能够感知弯曲方向的变形，通过FBG光纤传感的反馈得到磁力大小与弹簧管（4）弯曲的对应关系，然后对磁力进行调整，进而控制磁控弹簧管（3）弯曲角度。该多自由度柔性活检钳可以让活检钳头部能够精准的定位到气道内的变异组织，对气道更深处的部位进行取样。
Description
本发明涉及一种末端定位的多自由度柔性活检钳。
活检是“活体组织检查”简称，亦称外科病理学检查，是指应诊断、治疗的需要，从患者体内切取、钳取或穿刺等取出病变组织，进行病理学检查的技术。
通常较小的病变组织在气道内较深处，活检钳的定位前期需要导向管的运作，首先将导向管深入气管内部，形成一条固定通道，然后活检钳沿着固定通道进入气管进行取样，由于导向管的尺寸较大，深入气道深入较为困难，传统活检钳又没有自行转向的功能，因此取不到深处的病变组织。并且传统活检钳取样时由于只能夹取前方组织，容易造成正常组织被夹取，破坏气道内正常细胞，效率低下。
为了克服上述现有技术中存在的问题，本发明提出一种末端定位的多自由度柔性活检钳，可以让活检钳头部能够精准的定位到气道内的变异组织，对气道更深处的部位进行取样。
本发明解决上述问题的技术方案是：一种末端定位的多自由度柔性活检钳，其特殊之处在于：
包括头部结构、中间部位结构、末端部位结构；
所述头部结构包括活检钳钳体和头部外壳；末端部位结构包括末端外壳、末端手持件以及手动固定部位；
中间部位结构包括FBG牵引丝，所述FBG牵引丝的外层套设润滑管，润滑管的前端套设磁控弹簧管，润滑管的后端套设弹簧管；
磁控弹簧管的一端与头部外壳连接，另一端与弹簧管的一端连接，弹簧管的另一端与末端外壳连接，手动固定部位与末端外壳连接；FBG牵引丝的一端与活检钳钳体连接，另一端穿过末端外壳中间的孔洞与末端手持件连接，末端手持件在末端外壳的内部进行滑动，进而通过FBG牵引丝带动活检钳钳体动作；
磁控弹簧管通过外部加载的磁力控制下进行弯曲，磁控弹簧管弯曲后会带动FBG牵引丝同步进行弯曲，所述FBG牵引丝为光纤传感，能够感知弯曲方向的变形，通过FBG光纤传感的反馈得到磁力大小与弹簧管弯曲的对应关系，然后对磁力进行调整，进而控制磁控弹簧管弯曲角度。
优选的，上述活检钳钳体包括两个夹子、两个传动连接件和牵引丝连接件，两个夹子中间部位的孔与头部外壳顶部的孔通过第一连接轴连接，两个夹子末端分别与一个传动连接件的一端通过第二连接轴连接，两个传动连接件的末端与牵引丝连接件通过第三连接轴连接，牵引丝连接件与FBG牵引丝端部连接。
优选的，上述末端外壳上开设有通槽，所述FBG牵引丝延伸至通槽内并与末端手持件固定连接。
优选的，上述末端手持件包括圆筒形的手持部。
优选的，上述圆筒形的手持部两侧端面设有挡边，且所述挡边与手持部的连接处设置有倒圆角连接面。
优选的，上述手动固定部位可相对于末端外壳转动。
优选的，上述头部外壳包括管状结构和两个夹片，两个夹片相对设置，且两个夹片的一端固定在管状结构的顶端，两个夹子位于两个夹片之间。
优选的，上述牵引丝连接件位于头部外壳的管状结构内，且牵引丝连接件可沿管状结构内的通道滑动。
优选的，上述第一连接轴固定在两个夹片上。
优选的，上述手动固定部位包括一环状结构。
本发明提出的活检钳在深入气道时，首先会通过在体外进行磁力控制，实现对磁控弹簧管进行弯曲操作，磁控弹簧管弯曲后会带动FBG牵引丝同步进行弯曲，FBG为光纤传感，能够感知弯曲方向的变形，通过FBG光纤传感的反馈功能能够感知到磁力对弹簧管的影响，然后对磁力进行调整，实现精准地对气道更深处的部位进行取样，让活检钳头部能够精准的定位到气道内的变异组织，最后通过末端手持件的滑动使活检钳头部进行开合操作，获取组织。
图1是本发明提供的末端定位的多自由度柔性活检钳的头部结构图；
图2是本发明提供的末端定位的多自由度柔性活检钳的中间部位结构图；
图3是本发明提供的末端定位的多自由度柔性活检钳的末端部位结构图。
其中：1-FBG牵引丝，2-润滑管，3-磁控弹簧管，4-弹簧管，5-末端外壳，6-手动固定部位，7-末端手持件，8-夹子，9-传动连接件，10-牵引丝连接件，11-第一连接轴，12-第二连接轴，13-第三连接轴，14-夹片，15-管状结构。
为使本发明实施方式的目的、技术方案和优点更加清楚，下面将结合本发明实施方式中的附图，对本发明实施方式中的技术方案进行清楚、完整地描述，显然，所描述的实施方式是本发明一部分实施方式，而不是全部的实施方式。基于本发明中的实施方式，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施方式，都属于本发明保护的范围。因此，以下对在附图中提供的本发明的实施方式的详细描述并非旨在限制要求保护的本发明的范围，而是仅仅表示本发明的选定实施方式。
参见图1-图3，一种末端定位的多自由度柔性活检钳，包括头部结构、中间部位结构、末端部位结构。
所述头部结构包括活检钳钳体和头部外壳；末端部位结构包括末端外壳5、末端手持件7以及手动固定部位6。中间部位结构包括FBG牵引丝1，所述FBG牵引丝1的外层套设润滑管2，润滑管2的前端套设磁控弹簧管3，润滑管2的后端套设弹簧管4。
所述磁控弹簧管3的一端与头部外壳连接，另一端与弹簧管4的一端连接，弹簧管4的另一端与末端外壳5连接，手动固定部位6与末端外壳5连接；FBG牵引丝1的一端与活检钳钳体连接，另一端穿过末端外壳5中间的孔洞与末端手持件7连接，末端手持件7在末端外壳5的内部进行滑动，进而通过FBG牵引丝1带动活检钳钳体动作；
磁控弹簧管3通过外部加载的磁力控制进行弯曲，磁控弹簧管3弯曲后会带动FBG牵引丝1同步进行弯曲，所述FBG牵引丝1为光纤传感，能够感知弯曲方向的变形，通过FBG光纤传感的反馈得到磁力大小与弹簧管4弯曲的对应关系，然后对磁力进行调整，进而控制磁控弹簧管3弯曲角度。
具体地，外部加载的磁力由磁力控制部分实现，所述磁力控制部分由可控的多自由度机械臂与其末端的永磁铁进行控制实施。
活检钳在工作前会有相同结构的微型摄像头进行探路，当画面中显示到达拐点时，多自由度机械臂与其末端的永磁铁对磁控弹簧管3施加磁力，使其在拐点进行弯曲，利用摄像头拍摄的实时画面与机械臂控制的转向进行反馈，使摄像头能够到达目标地点，然后整个过程中机械臂会记录运行过程，然后转为路径代码，随后使用活检钳工作时，则是重复运行一次机械臂记录的路径及动作过程，使活检钳达到目标地点。
FBG光纤传感原理为：传入光后通过光栅满足布拉格条件的波长会进行反射，通过解调仪分析出光谱，FBG牵引丝1内部由两根FBG组成，当弯曲时光栅紧密度会发生变化，由两侧反射后通过解调仪分析出光谱，然后根据光谱判断弯曲方向和角度。其主要作用为：由于活检钳工作时没有实时画面监控，无法判断是否按照机械臂的路径进行转向，因此利用FBG进行监测。
作为本发明的一个优选实施例，参见图1，所述活检钳钳体包括两个夹子8、两个传动连接件9和牵引丝连接件10，两个夹子8中间部位的孔与头部外壳顶部的孔通过第一连接轴11连接，使两个夹子8实现铰接。两个夹子8末端分别与一个传动连接件9的一端通过第二连接轴12连接，两个传动连接件9的末端与牵引丝连接件10通过第三连接轴13连接，牵引丝连接件10与FBG牵引丝1端部连接，当FBG牵引丝1向下移动时，带动牵引丝连接件10向下移动，再由传动连接件9带动两个夹子8以第一连接轴11为中心转动，实现夹取动作。
作为本发明的一个优选实施例，参见图3，所述末端外壳5上开设有通槽，所述FBG牵引丝1延伸至通槽内并与末端手持件7固定连接。
作为本发明的一个优选实施例，参见图3，所述末端手持件7包括圆筒形的手持部，所述圆筒形的手持部两侧端面设有挡边，且所述挡边与手持部的连接处设置有倒圆角连接面。圆筒形的手持部便于手指抓取，挡边便于操作人员用力。
作为本发明的一个优选实施例，参见图3，所述手动固定部位6与末端外壳5转动连接，可使手动固定部位6相对于末端外壳5转动。所述手动固定部位6包括一环状结构，便于操作人员用手抓取，操作人员可以将一个手指穿过环状结构，避免手动固定部位6在操作过程中从操作人员手中脱离。
作为本发明的一个优选实施例，参见图1和图2，所述头部外壳包括管状结构15和两个夹片14，两个夹片14相对设置，两个夹片14之间形成空隙，两个夹子8位于两个夹片14的空隙之间，且两个夹片14的一端固定在管状结构15的顶端。所述第一连接轴11固定在两个夹片14上。
作为本发明的一个优选实施例，参见图1和图2，所述牵引丝连接件10位于头部外壳的管状结构15内，且牵引丝连接件10可沿管状结构15内的通道滑动。
本发明提出的末端定位的多自由度柔性活检钳的工作原理为：
手动固定部位6需要手持来进行固定，然后末端手持件7可以在末端外壳5上进行滑动，通过手动来进行控制，当末端手持件7进行滑动时，会带动FBG牵引丝1进行同步滑动，FBG牵引丝1的头部与活检钳的牵引丝连接件10相连接，FBG牵引丝1进行滑动时会带动活检钳钳体的运动，实现头部夹子8进行张开与关闭的动作。当活检钳深入气道时，为了精准的对气道更深处的部位进行取样，在需要转向的部位，首先会通过在体外加载的磁力进行磁力控制，对磁控弹簧管进行弯曲操作，磁控弹簧管弯曲后会带动FBG牵引丝同步进行弯曲，FBG为光纤传感，能够感知弯曲方向的变形，通过FBG光纤传感的反馈功能能够感知到磁力对磁控弹簧管的影响，然后对磁力进行调整，让活检钳头部能够精准的定位到气道内的变异组织，最后通过末端手持件的滑动使活检钳头部进行开合操作，获取组织。
以上所述仅为本发明的实施例，并非以此限制本发明的保护范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的系统领域，均同理包括在本发明的保护范围内。
Claims (10)
- 一种末端定位的多自由度柔性活检钳，其特征在于：包括头部结构、中间部位结构、末端部位结构；所述头部结构包括活检钳钳体和头部外壳；末端部位结构包括末端外壳（5）、末端手持件（7）以及手动固定部位（6）；中间部位结构包括FBG牵引丝（1），所述FBG牵引丝（1）的外层套设润滑管（2），润滑管（2）的前端套设磁控弹簧管（3），润滑管（2）的后端套设弹簧管（4）；磁控弹簧管（3）的一端与头部外壳连接，另一端与弹簧管（4）的一端连接，弹簧管（4）的另一端与末端外壳（5）连接，手动固定部位（6）与末端外壳（5）连接；FBG牵引丝（1）的一端与活检钳钳体连接，另一端穿过末端外壳（5）中间的孔洞与末端手持件（7）连接，末端手持件（7）在末端外壳（5）的内部进行滑动，进而通过FBG牵引丝（1）带动活检钳钳体动作；磁控弹簧管（3）通过外部加载的磁力控制下进行弯曲，磁控弹簧管（3）弯曲后会带动FBG牵引丝（1）同步进行弯曲，所述FBG牵引丝（1）为光纤传感，能够感知弯曲方向的变形，通过FBG光纤传感的反馈得到磁力大小与弹簧管（4）弯曲的对应关系，然后对磁力进行调整，进而控制磁控弹簧管（3）弯曲角度。
- 根据权利要求1所述的一种末端定位的多自由度柔性活检钳，其特征在于：所述活检钳钳体包括两个夹子（8）、两个传动连接件（9）和牵引丝连接件（10），两个夹子（8）中间部位的孔与头部外壳顶部的孔通过第一连接轴（11）连接，两个夹子（8）末端分别与一个传动连接件（9）的一端通过第二连接轴（12）连接，两个传动连接件（9）的末端与牵引丝连接件（10）通过第三连接轴（13）连接，牵引丝连接件（10）与FBG牵引丝（1）端部连接。
- 根据权利要求2所述的一种末端定位的多自由度柔性活检钳，其特征在于：所述末端外壳（5）上开设有通槽，所述FBG牵引丝（1）延伸至通槽内并与末端手持件（7）固定连接。
- 根据权利要求3所述的一种末端定位的多自由度柔性活检钳，其特征在于：所述末端手持件（7）包括圆筒形的手持部。
- 根据权利要求4所述的一种末端定位的多自由度柔性活检钳，其特征在于：所述圆筒形的手持部两侧端面设有挡边，且所述挡边与手持部的连接处设置有倒圆角连接面。
- 根据权利要求5所述的一种末端定位的多自由度柔性活检钳，其特征在于：所述手动固定部位（6）可相对于末端外壳（5）转动。
- 根据权利要求6所述的一种末端定位的多自由度柔性活检钳，其特征在于：所述头部外壳包括管状结构（15）和两个夹片（14），两个夹片（14）相对设置，且两个夹片（14）的一端固定在管状结构（15）的顶端，两个夹子（8）位于两个夹片（14）之间。
- 根据权利要求7所述的一种末端定位的多自由度柔性活检钳，其特征在于：所述牵引丝连接件（10）位于头部外壳的管状结构（15）内，且牵引丝连接件（10）可沿管状结构（15）内的通道滑动。
- 根据权利要求7所述的一种末端定位的多自由度柔性活检钳，其特征在于：所述第一连接轴（11）固定在两个夹片（14）上。
- 根据权利要求1所述的一种末端定位的多自由度柔性活检钳，其特征在于：所述手动固定部位（6）包括一环状结构。
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