CN104274244B - Haptic Feedback System for Minimally Invasive Surgical Instruments - Google Patents

Abstract

A kind of haptic feedback system of Minimally Invasive Surgery apparatus, including the elongate rod of Minimally Invasive Surgery apparatus and the end effector that is attached thereto, and the first elastic device, there is the connector of submissive deformability, the second elastic device, the first pair roller group, the second pair roller group, indication piece, measuring cell and computerized control system.Can be read the position of indication piece by the measuring cell being arranged in Minimally Invasive Surgery apparatus elongate rod, computerized control system reads the reading of measuring cell, converts and judge to be applied to the size of the power inside end effector.The present invention has simple in construction, advantage highly sensitive, with low cost.

Description

Haptic Feedback System for Minimally Invasive Surgical Instruments

technical field

The invention relates to medical instruments, in particular to a tactile feedback system for minimally invasive surgical instruments.

Background technique

In minimally invasive surgery, robot-assisted surgery is becoming more and more popular. During such procedures, the surgeon will operate active controllers to control the movement of surgical instruments at the surgical site. The active member typically includes one or more hand input devices, such as joysticks, handpieces or the like, whose movement is achieved by servomotors driving the driven member. The follower operates at the surgical site (eg, the patient's abdominal cavity) through the incision. According to the surgical procedure, grasping forceps, cautery probes and other instruments are used to help the surgeon perform various operations, such as suturing, tying knots, grasping blood vessels or dissecting, cauterizing or coagulating tissues, etc.

But the method of performing robotic surgery "off-site" also faces many challenges. One such challenge is the inability of surgical robotic systems to provide precise "feel" feedback to the surgeon manipulating surgical instruments. Surgeons need to precisely control the follower to operate according to the feedback force (torque), so as to avoid applying excessive force and causing organs or tissues to be pinched.

The problem of tactile feedback in minimally invasive surgery is challenging. Virtual reality and 3D vision can partially replace touch to help doctors understand the operation of surgical instruments, but the above two methods cannot achieve palpation, so it is impossible to check tumors and diseased tissues by touching organs and tissues.

When using sensors to acquire the force applied to the tip of the instrument, it faces the problem of limited space and difficult to sterilize. In order to reduce the pain of patients, the diameter of laparoscopic surgical instruments and robotic minimally invasive surgical instruments is less than 12mm, and the operating part in the patient’s abdominal cavity needs to be sterilized at high temperature (sterilized at a standard atmospheric pressure and a high temperature environment of 121°C for at least 15 minutes), which is Unacceptable for most commercially available sensor devices. Some pressure sensors that can adapt to high temperature environments are expensive. Therefore, there is no commercially available tactile feedback system that can be integrated in minimally invasive surgical instruments.

Contents of the invention

The object of the present invention is to provide a tactile feedback system for minimally invasive surgical instruments with simple structure, high sensitivity and low cost.

The object of the present invention is achieved in this way: a tactile feedback system of a minimally invasive surgical instrument, comprising a slender rod of a minimally invasive surgical instrument and an end effector connected thereto, the end effector is provided with an opening and closing joint, and the minimally invasive surgery Apparatus with pitch joint on elongated shaft; also includes:

a first elastic device, the distal end of which is connected to the inner side of the distal end of the end effector;

A connector with flexible deformation capability, the distal end of which is connected to the proximal end of the first elastic device;

The second elastic device, its distal end is connected with the proximal end of the connecting piece with flexible deformation ability, and its proximal end is installed in the elongated rod of the minimally invasive surgical instrument;

The first pair of roller sets are installed on both sides of the axis of the opening and closing joint of the end effector, and the axes of the rollers are parallel to the axis of the opening and closing joint;

The second pair of roller sets are installed on both sides of the axis of the pitch joint of the slender rod of the minimally invasive surgical instrument, and the axis of the rollers is parallel to the axis of the pitch joint;

The connecting piece with flexible deformation ability passes through the middle of the above two pairs of rollers in sequence;

An indicator, which is fixed on a connecting piece with a flexible deformation capability;

A measuring element mounted in an elongated shaft of a minimally invasive surgical instrument parallel to a compliantly deformable connector;

The computer control system is connected with the measuring element by electric signal, reads the reading of the measuring element, converts and judges the magnitude of the force exerted on the inner side of the end effector.

The indicator is a pointer, which is in contact with the measuring element, and the measuring element can read the position of the pointer on the measuring element through a computer control system.

The rollers in the first pair of roller sets and the second pair of roller sets are all long rod-shaped rollers with small diameters.

The first elastic device and the second elastic device are springs, air bags or liquid bags.

The beneficial effects of the present invention are:

1. Using some simple components, the structure is simple, the installation is convenient, the moment of inertia is small, and the motion response is fast.

2. It is easy to calibrate and control, thus reducing the development cost.

Description of drawings

Fig. 1 is a schematic structural view of the tactile feedback system of the minimally invasive surgical instrument of the present invention.

Fig. 2 is a schematic diagram of the working principle of the tactile feedback system of the minimally invasive surgical instrument of the present invention.

detailed description

Referring to Fig. 1, referring to Fig. 2, the tactile feedback system of the minimally invasive surgical instrument of the present invention includes the slender rod 1 of the minimally invasive surgical instrument and the end effector 8 connected thereto, the end effector is provided with an opening and closing joint, The slender rod of the minimally invasive surgical instrument is provided with a pitch joint; it also includes a first elastic device 9, a connecting piece 3 with flexible deformation capability, a second elastic device 2, a first pair of roller groups 7, a second pair of roller groups 6, Indicator 4, measuring element 5 and computer control system 10.

The distal end of the first elastic device 9 is connected to the distal inner side of the end effector;

The distal end of the connector 3 with flexible deformation capability is connected with the proximal end of the first elastic device;

The distal end of the second elastic device 2 is connected to the proximal end of the connecting piece 3 with flexible deformation capability, and its proximal end is installed in the elongated rod 1 of the minimally invasive surgical instrument;

The first pair of roller sets 7 are installed on both sides of the axis of the opening and closing joint of the end effector 8, and the axis of the rollers is parallel to the axis of the opening and closing joint;

The second pair of roller sets 6 are installed on both sides of the axis of the pitch joint of the minimally invasive surgical instrument slender rod 1, and the axis of the rollers is parallel to the axis of the pitch joint;

The above-mentioned connecting piece 3 with flexible deformation ability passes through the middle of the above-mentioned two pairs of rollers 6, 7 in sequence;

The indicating part 4 is fixed on the connecting part 3 with flexible deformation capability;

The measuring element 5 is installed in the slender rod 1 of the minimally invasive surgical instrument and parallel to the connecting piece 3 with flexible deformation capability;

The computer control system 10 is electrically connected with the measuring element 5, reads the reading of the measuring element, converts and judges the magnitude of the force exerted on the inside of the end effector.

The indicator 4 in the present invention is a pointer, which is in contact with the measuring element 5 , and the measuring element can read the position of the pointer on the measuring element through the computer control system 10 .

The rollers in the first pair of roller sets 7 and the second pair of roller sets 6 in the present invention are all small-diameter elongated rollers.

The first elastic device and the second elastic device are springs, air bags or liquid bags.

Working principle of the present invention can be described as follows in conjunction with Fig. 2:

When the end effector 8 rotates around the opening and closing joints or the pitch joints, the connecting piece 3 with compliant deformation capability bends under the action of the roller sets 6 and 7 with smaller diameters, but due to the smaller diameter of the rollers, it has compliant deformation capabilities The position of the connecting piece 3 and the indicating piece 4 installed on the connecting piece 3 changes slightly, and the measuring element 5 reads out the position of the indicating piece 4 .

When the end effector 8 clamps an object, the first elastic device 9 deforms under the action of the contact force, the proximal end of the first elastic device 9 moves backward, and the proximal end of the first elastic device 9 is connected with a flexible deformation capability The connecting piece 3 moves backward under the action of the first elastic device 9 and the second elastic device 2, so that the indicator 4 installed on the connecting piece 3 with flexible deformation ability moves obviously, and the measuring element 5 reads Indicates the location of the piece.

When the clamping force is removed, under the action of the first elastic device 9 and the second elastic device 2, the connecting part 3 returns to the initial position, and the position of the indicator 4 read by the measuring element 5 returns to the initial value.

Claims (4)

1. a haptic feedback system for Minimally Invasive Surgery apparatus, including elongate rod and the phase therewith of Minimally Invasive Surgery apparatus End effector even, end effector is provided with folding joint, and the elongate rod of Minimally Invasive Surgery apparatus is provided with pitching joint； It is characterized in that, also include:

First elastic device, its far-end is connected with the distal medial of end effector；

Having the connector of submissive deformability, the near-end of its far-end and the first elastic device is connected；

Second elastic device, its far-end is connected with the near-end of the connector with submissive deformability, and its near-end is installed In the elongate rod of Minimally Invasive Surgery apparatus；

First pair roller group, it is arranged on the both sides of end effector folding joints axes, its roller axis and folding The axis in joint is parallel；

Second pair roller group, it is arranged on the axis both sides in Minimally Invasive Surgery apparatus elongate rod pitching joint, its roller shaft Line is parallel with the axis in pitching joint；

The described connector with submissive deformability passes successively in the middle of above-mentioned two pair rollers；

Indication piece, it is fixed on the connector with submissive deformability；

Measuring cell, puts down in it is arranged on Minimally Invasive Surgery apparatus elongate rod and with the connector with submissive deformability OK；

Computerized control system, it is connected with the measuring cell signal of telecommunication, reads the reading of measuring cell, converts and judge Go out the size being applied to the power inside end effector；

The described connector with submissive deformability bends under the roller group effect that diameter is less.

The haptic feedback system of Minimally Invasive Surgery apparatus the most according to claim 1, it is characterised in that: described Indication piece is pointer, and this pointer contacts with measuring cell and is connected, and measuring cell reads pointer by computerized control system Position on measuring cell.

The haptic feedback system of Minimally Invasive Surgery apparatus the most according to claim 1, it is characterised in that: described Roller in first pair roller group and the second pair roller group is all small diameter long rod roller.

The haptic feedback system of Minimally Invasive Surgery apparatus the most according to claim 1, it is characterised in that: described First elastic device and the second elastic device are spring, air bag or liquid capsule.