CN117705333B - Suspension type interventional guide wire micro-force measurement method and system - Google Patents
Suspension type interventional guide wire micro-force measurement method and system Download PDFInfo
- Publication number
- CN117705333B CN117705333B CN202311710731.0A CN202311710731A CN117705333B CN 117705333 B CN117705333 B CN 117705333B CN 202311710731 A CN202311710731 A CN 202311710731A CN 117705333 B CN117705333 B CN 117705333B
- Authority
- CN
- China
- Prior art keywords
- coordinates
- plate
- force
- guide wire
- phantom
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
- 239000000725 suspension Substances 0.000 title abstract description 9
- 238000000691 measurement method Methods 0.000 title description 2
- 238000000034 method Methods 0.000 claims abstract description 17
- 238000005259 measurement Methods 0.000 claims description 16
- 238000004364 calculation method Methods 0.000 claims description 8
- 238000005516 engineering process Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000002792 vascular Effects 0.000 description 2
- 101001121408 Homo sapiens L-amino-acid oxidase Proteins 0.000 description 1
- 101000827703 Homo sapiens Polyphosphoinositide phosphatase Proteins 0.000 description 1
- 102100026388 L-amino-acid oxidase Human genes 0.000 description 1
- 102100023591 Polyphosphoinositide phosphatase Human genes 0.000 description 1
- 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
- 210000004556 brain Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 238000012978 minimally invasive surgical procedure Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000037361 pathway Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0028—Force sensors associated with force applying means
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Landscapes
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Media Introduction/Drainage Providing Device (AREA)
Abstract
Description
技术领域Technical Field
本发明涉及介入手术机器人领域，具体涉及一种悬挂式介入导丝微小力测量方法及系统。The present invention relates to the field of interventional surgical robots, and in particular to a method and system for measuring micro-force of a suspended interventional guidewire.
背景技术Background Art
机器人技术在许多方面影响着人类的生活。除了彻底改变制造业之外，机器人也已被集成到世界各地的手术室中，改进了许多新的微创外科手术。微创手术相较传统开放式手术有很大优势，因为它可以减少患者的不适、住院时间和手术费用。在介入手术中，机器人技术的使用让手术更加精确、可控，并且能够通过机器人建立通路使介入导丝一次到达更远的病灶部位，而无需频繁更换导丝，提高手术效率。Robotics is impacting human life in many ways. In addition to revolutionizing the manufacturing industry, robots have also been integrated into operating rooms around the world, improving many new minimally invasive surgical procedures. Minimally invasive surgery has great advantages over traditional open surgery because it can reduce patient discomfort, hospital stays, and surgical costs. In interventional surgery, the use of robotic technology makes the surgery more precise and controllable, and the robot can establish a pathway to allow the interventional guidewire to reach a more distant lesion at one time without the need to frequently change the guidewire, thereby improving surgical efficiency.
在手术过程中，导丝与机器人存在相互作用，因此要完成机器人的精确控制，导丝力学性质的研究也是必不可少的一环。而导丝软且细，其与周围腔道的作用力非常小，常规传感器无法精确测量，而且腔道内空间狭小，微型传感器的置入也是一个待解决的难题。During the operation, the guidewire interacts with the robot, so the study of the mechanical properties of the guidewire is an essential part of achieving precise control of the robot. However, the guidewire is soft and thin, and the force it exerts on the surrounding cavity is very small, so conventional sensors cannot accurately measure it. In addition, the space inside the cavity is small, so the placement of microsensors is also a problem to be solved.
发明内容Summary of the invention
针对现有技术的不足，本发明提出了一种悬挂式介入导丝微小力测量方法及系统,解决导丝受力微小，无法精确测量的问题。In view of the deficiencies in the prior art, the present invention proposes a method and system for measuring micro-forces of a suspended interventional guidewire, which solves the problem that the force on the guidewire is very small and cannot be accurately measured.
本发明的目的可以通过以下技术方案实现：The purpose of the present invention can be achieved through the following technical solutions:
一种悬挂式介入导丝微小力测量方法，包括：A method for measuring micro-force of a suspended interventional guidewire, comprising:
调节被悬挂的体模平板，使得所述体模平板在静止时与水平面平行；Adjusting the suspended phantom plate so that the phantom plate is parallel to the horizontal plane when stationary;
获取所述体模平板的一个端面的中心点的初始坐标；所述端面与所述水平面平行；Acquire the initial coordinates of the center point of an end surface of the phantom plate; the end surface is parallel to the horizontal plane;
将所述导丝沿着水平方向从送入所述体模平板中，并获取所述体模平板在静止时的所述中心点的结束坐标；Sending the guide wire into the phantom plate along the horizontal direction, and obtaining the end coordinates of the center point of the phantom plate when it is stationary;
基于所述初始坐标和结束坐标确定所述体模平板的摆动角度，基于所述摆动角度和体模平板的总重确定所述导丝的受力。The swing angle of the phantom plate is determined based on the initial coordinates and the end coordinates, and the force applied to the guide wire is determined based on the swing angle and the total weight of the phantom plate.
在一些实施例中，所述摆动角度的确定，包括以下步骤：In some embodiments, the determination of the swing angle comprises the following steps:
计算由所述初始坐标Ps（x0，y0，z0）指向所述结束坐标Pe（x1，y1，z1）的向量与沿Z轴方向的单位向量的夹角：Calculate the vector from the initial coordinate Ps ( x0 , y0 , z0 ) to the end coordinate Pe ( x1 , y1 , z1 ) and the unit vector along the Z axis Angle :
根据几何关系计算出体模平板的摆动角度为：Calculate the swing angle of the phantom plate based on the geometric relationship for:
。 .
在一些实施例中，所述导丝的受力的确定包括，以下步骤：In some embodiments, the determination of the force applied to the guidewire comprises the following steps:
通过所述体模平板总重与摆动角度，计算出所述导丝对模平板的推力为：；The total weight of the phantom plate With swing angle , calculate the thrust of the guide wire on the mold plate for: ;
根据牛顿第三定律，所述导丝的头部受到的力为：。According to Newton's third law, the force on the head of the guide wire is for: .
在一些实施例中，所述初始坐标和结束坐标基于尺寸测量设备进行测量；所述尺寸测量设备为影像测量仪、三坐标测量机、激光跟踪仪中的至少一种。In some embodiments, the initial coordinates and the end coordinates are measured based on a dimension measuring device; the dimension measuring device is at least one of an image measuring instrument, a three-coordinate measuring machine, and a laser tracker.
在一些实施例中，所述尺寸测量设备为激光跟踪仪；所述端面在所述中心点设置有靶球；以所述靶球作为中心点获取所述初始坐标和结束坐标。In some embodiments, the dimension measuring device is a laser tracker; a target ball is arranged at the center point of the end surface; and the initial coordinates and the end coordinates are acquired with the target ball as the center point.
本申请还提出一种悬挂式介入导丝微小力测量系统,包括：The present application also proposes a suspended interventional guidewire micro-force measurement system, comprising:
参数获取模块:用于获取体模平板一个端面的中心点的初始坐标和结束坐标；获取初始坐标时体模平板不加入导丝，体模平板处于静止，且与水平面平行；获取结束坐标时，体模平板沿着水平方向加入导丝，体模平板处于静止；Parameter acquisition module: used to obtain the initial coordinates and end coordinates of the center point of one end face of the phantom plate; when obtaining the initial coordinates, the phantom plate is not added with a guide wire, the phantom plate is stationary, and is parallel to the horizontal plane; when obtaining the end coordinates, the phantom plate is added with a guide wire along the horizontal direction, and the phantom plate is stationary;
受力计算模块：基于初始坐标和结束坐标确定体模平板的摆动角度，基于摆动角度和体模平板的总重确定导丝的受力。Force calculation module: determines the swing angle of the phantom plate based on the initial coordinates and the end coordinates, and determines the force of the guide wire based on the swing angle and the total weight of the phantom plate.
本发明的有益效果：Beneficial effects of the present invention:
通过被悬挂的体模平板位移量计算导丝受力，相比常规传感器，通过调整体模平板重量可以改变测力范围，提高了测量的适应性，并能保证测量的精度；相比置入微型传感器的方法，因无需使用力传感器，解决了腔道内空间狭小，无法置入力传感器的问题，降低了测量难度。The force on the guidewire is calculated by the displacement of the suspended phantom plate. Compared with conventional sensors, the force measurement range can be changed by adjusting the weight of the phantom plate, which improves the adaptability of the measurement and ensures the accuracy of the measurement. Compared with the method of inserting micro-sensors, since there is no need to use force sensors, the problem of small space in the cavity and inability to insert force sensors is solved, thus reducing the difficulty of measurement.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
下面结合附图对本发明作进一步的说明。The present invention will be further described below in conjunction with the accompanying drawings.
图1为本发明的悬挂式介入导丝微小力测量方法的流程图；FIG1 is a flow chart of a method for measuring micro-force of a suspended interventional guidewire according to the present invention;
图2为本发明的体模平板示意图；FIG2 is a schematic diagram of a phantom plate of the present invention;
图3为本发明的悬吊装置空间位置示意图；FIG3 is a schematic diagram of the spatial position of the suspension device of the present invention;
图4为本发明的悬索摆动角度计算示意图；FIG4 is a schematic diagram of calculating the swing angle of the suspension cable according to the present invention;
图5为本发明的导丝对平板推力计算示意图。FIG5 is a schematic diagram showing the calculation of the thrust of the guide wire on the plate according to the present invention.
具体实施方式DETAILED DESCRIPTION
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，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它实施例，都属于本发明保护的范围。The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
在本发明的描述中，需要理解的是，术语“开孔”、“上”、“下”、“厚度”、“顶”、“中”、“长度”、“内”、“四周”等指示方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的组件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发明的限制。In the description of the present invention, it is necessary to understand that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inside", "all around" and the like indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.
在本说明书的描述中，参考术语“一个实施例”、“示例”、“具体示例”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发明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一定指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何的一个或多个实施例或示例中以合适的方式结合。In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.
一种悬挂式介入导丝微小力测量方法，包括：A method for measuring micro-force of a suspended interventional guidewire, comprising:
调节被悬挂的体模平板，使得所述体模平板在静止时与水平面平行，此时体模平板与悬索垂直，可以最大简化后续计算；Adjust the suspended phantom plate so that the phantom plate is parallel to the horizontal plane when stationary. At this time, the phantom plate is perpendicular to the suspension cable, which can greatly simplify subsequent calculations.
本申请中的体模平板指的是内部刻有类似血管腔道的模板；一般包括体模与盖板两部分，体模为表面刻有类似血管腔道凹槽的块，其上盖有透明盖板，防止导丝脱出；The phantom plate in this application refers to a template with a vascular cavity engraved inside; it generally includes a phantom and a cover plate. The phantom is a block with grooves similar to vascular cavities engraved on the surface, and a transparent cover plate is covered on it to prevent the guide wire from coming out;
获取所述体模平板的一个端面的中心点的初始坐标；所述端面与所述水平面平行；Acquire the initial coordinates of the center point of an end surface of the phantom plate; the end surface is parallel to the horizontal plane;
将所述导丝沿着水平方向从送入所述体模平板中，以保证导丝只在平行于水平面的平面内发生弯曲，并获取所述体模平板在静止时的所述中心点的结束坐标；Sending the guide wire into the phantom plate along the horizontal direction to ensure that the guide wire is bent only in a plane parallel to the horizontal plane, and obtaining the end coordinates of the center point of the phantom plate when it is stationary;
基于所述初始坐标和结束坐标确定所述体模平板的摆动角度，基于所述摆动角度和体模平板的总重确定所述导丝的受力。The swing angle of the phantom plate is determined based on the initial coordinates and the end coordinates, and the force applied to the guide wire is determined based on the swing angle and the total weight of the phantom plate.
通过被悬挂的体模平板位移量计算导丝受力，相比常规传感器，通过调整体模平板重量可以改变测力范围，提高了测量的适应性，并能保证测量的精度；相比置入微型传感器的方法，因无需使用力传感器，解决了腔道内空间狭小，无法置入力传感器的问题，降低了测量难度。The force on the guidewire is calculated by the displacement of the suspended phantom plate. Compared with conventional sensors, the force measurement range can be changed by adjusting the weight of the phantom plate, which improves the adaptability of the measurement and ensures the accuracy of the measurement. Compared with the method of inserting micro-sensors, since there is no need to use force sensors, the problem of small space in the cavity and inability to insert force sensors is solved, thus reducing the difficulty of measurement.
在一些实施例中，所述摆动角度的确定，包括以下步骤：In some embodiments, the determination of the swing angle comprises the following steps:
计算由所述初始坐标Ps（x0，y0，z0）指向所述结束坐标Pe（x1，y1，z1）的向量与沿Z轴方向的单位向量的夹角：Calculate the vector from the initial coordinate Ps ( x0 , y0 , z0 ) to the end coordinate Pe ( x1 , y1 , z1 ) and the unit vector along the Z axis Angle :
根据几何关系计算出体模平板的摆动角度为：Calculate the swing angle of the phantom plate based on the geometric relationship for:
。 .
在一些实施例中，所述导丝的受力的确定包括，以下步骤：In some embodiments, the determination of the force applied to the guidewire comprises the following steps:
通过所述体模平板总重与摆动角度，计算出所述导丝对模平板的推力为： The total weight of the phantom plate With swing angle , calculate the thrust of the guide wire on the mold plate for:
根据牛顿第三定律，所述导丝的头部受到的力为：。According to Newton's third law, the force on the head of the guide wire is for: .
在一些实施例中，所述初始坐标和结束坐标基于尺寸测量设备进行测量；所述尺寸测量设备为影像测量仪、三坐标测量机、激光跟踪仪中的至少一种；In some embodiments, the initial coordinates and the final coordinates are measured based on a dimension measuring device; the dimension measuring device is at least one of an image measuring instrument, a three-coordinate measuring machine, and a laser tracker;
影像测量仪是建立在CCD数位影像的基础上，依托于计算机屏幕测量技术和空间几何运算的强大软件能力而产生的。计算机在安装上专用控制与图形测量软件后，变成了具有软件灵魂的测量大脑，是整个设备的主体。它能快速读取光学尺的位移数值，通过建立在空间几何基础上的软件模块运算，瞬间得出所要的结果；并在屏幕上产生图形，供操作员进行图影对照，从而能够直观地分辨测量结果可能存在的偏差。The image measuring instrument is based on CCD digital images, relying on computer screen measurement technology and powerful software capabilities of spatial geometry calculations. After installing special control and graphic measurement software, the computer becomes a measurement brain with a software soul, which is the main body of the entire device. It can quickly read the displacement value of the optical ruler, and instantly obtain the desired results through software module calculations based on spatial geometry; and generate graphics on the screen for the operator to compare the image and the image, so as to intuitively distinguish the possible deviations in the measurement results.
三坐标测量机的功能是快速准确地评价尺寸数据，为操作者提供关于生产过程状况的有用信息，这与所有的手动测量设备有很大的区别。将被测物体置于三坐标测量空间，可获得被测物体上各测点的坐标位置，根据这些点的空间坐标值，经计算求出被测物体的几何尺寸、形状和位置。The function of a three-dimensional measuring machine is to quickly and accurately evaluate dimensional data and provide the operator with useful information about the status of the production process, which is very different from all manual measuring equipment. By placing the object to be measured in the three-dimensional measurement space, the coordinate position of each measuring point on the object to be measured can be obtained. Based on the spatial coordinate values of these points, the geometric size, shape and position of the object to be measured can be calculated.
激光跟踪仪是工业测量系统中一种高精度的大尺寸测量仪器。它集合了激光干涉测距技术、光电探测技术、精密机械技术、计算机及控制技术、现代数值计算理论等各种先进技术，对空间运动目标进行跟踪并实时测量目标的空间三维坐标。Laser tracker is a high-precision large-size measuring instrument in industrial measurement systems. It integrates various advanced technologies such as laser interferometer ranging technology, photoelectric detection technology, precision machinery technology, computer and control technology, modern numerical calculation theory, etc., to track moving targets in space and measure the three-dimensional coordinates of the target in real time.
在一些实施例中，所述尺寸测量设备为激光跟踪仪；所述端面在所述中心点设置有靶球；以所述靶球作为中心点获取所述初始坐标和结束坐标。靶球能够配合激光跟踪仪提高激光跟踪系统的性能，获取精确的三维坐标。In some embodiments, the dimension measuring device is a laser tracker; the end surface is provided with a target ball at the center point; the initial coordinates and the end coordinates are obtained using the target ball as the center point. The target ball can cooperate with the laser tracker to improve the performance of the laser tracking system and obtain accurate three-dimensional coordinates.
下面结合附图和实施方式，对本申请所提供的悬挂式介入导丝微小力测量方法做更进一步的说明。The following is a further explanation of the suspended interventional guidewire micro-force measurement method provided in the present application in conjunction with the accompanying drawings and implementation examples.
如图1-3所示，本实施例提供一种悬挂式介入导丝微小力测量方法，具体流程包括：As shown in FIG. 1-3 , this embodiment provides a method for measuring micro-force of a suspended interventional guidewire, and the specific process includes:
步骤（1）：启动激光跟踪仪，标定初始平面与世界坐标系XYZ轴的方向；Step (1): Start the laser tracker and calibrate the direction of the initial plane and the XYZ axis of the world coordinate system;
步骤（2）：悬挂体模平台，调节悬索长度，粗调平体模平板，通过激光测距仪精调平体模平板，使其与XOY平面平行；Step (2): suspend the phantom platform, adjust the length of the suspension cable, roughly level the phantom plate, and finely level the phantom plate using a laser rangefinder to make it parallel to the XOY plane;
步骤（3）：依据对角线交点位置粗定位体模平板中心并将靶球置于此位置，通过激光跟踪仪读数精定位体模平板中心，将靶球固定在体模平板中心位置；Step (3): roughly locate the center of the phantom plate according to the position of the intersection of the diagonals and place the target ball at this position, accurately locate the center of the phantom plate by reading the laser tracker, and fix the target ball at the center of the phantom plate;
步骤（4）：测量体模平板总重；Step (4): Measure the total weight of the phantom plate ;
步骤（5）：自由放置体模平板，待其静止后，通过激光跟踪仪测量此时靶球的xyz坐标，记作初始坐标Ps；Step (5): Place the phantom plate freely, wait for it to come to rest, and then use a laser tracker to measure the xyz coordinates of the target ball at this time, which are recorded as the initial coordinates Ps ;
步骤（6）：将导丝从体模入口送入，待导丝到达目标位置且体模平板稳定后，通过激光跟踪仪再次测量此时靶球的xyz坐标，记作结束坐标Pe；Step (6): insert the guide wire from the entrance of the phantom. After the guide wire reaches the target position and the phantom plate is stable, measure the xyz coordinates of the target ball again using the laser tracker, and record it as the end coordinate Pe ;
步骤（7）：根据初始坐标Ps和结束坐标Pe，计算出导丝的受力大小。Step (7): Calculate the force applied to the guide wire based on the initial coordinate Ps and the final coordinate Pe .
步骤（7）的具体过程为：The specific process of step (7) is as follows:
步骤（701）：获得Ps和Pe的xyz坐标分别为Ps（x0，y0，z0）、Pe（x1，y1，z1）；Step (701): Obtain the xyz coordinates of Ps and Pe as Ps ( x0 , y0 , z0 ) and Pe ( x1 , y1 , z1 ) respectively;
步骤（702）：通过以下公式计算由Ps指向Pe的向量与沿Z轴方向的单位向量的夹角： Step (702): Calculate the vector from Ps to Pe by the following formula: and the unit vector along the Z axis Angle :
步骤（703）：根据几何关系可以计算出悬索的摆动角度为： Step (703): The swing angle of the suspension cable can be calculated based on the geometric relationship. for:
步骤（704）：通过体模平板总重与悬索摆动角度，可以计算出导丝对平板的推力为： Step (704): The total weight of the phantom plate Angle of suspension cable swing , the thrust of the guide wire on the plate can be calculated for:
步骤（705）：根据牛顿第三定律，导丝头部受到的力为：。表1为本申请的通过坐标计算的受力数据：Step (705): According to Newton's third law, the force on the guide wire head is for: Table 1 is the force data calculated by coordinates in this application:
表1Table 1
本申请还提出一种悬挂式介入导丝微小力测量系统,包括：The present application also proposes a suspended interventional guidewire micro-force measurement system, comprising:
参数获取模块:用于获取体模平板一个端面的中心点的初始坐标和结束坐标；获取初始坐标时体模平板不加入导丝，体模平板处于静止，且与水平面平行；获取结束坐标时，体模平板沿着水平方向加入导丝，体模平板处于静止；Parameter acquisition module: used to obtain the initial coordinates and end coordinates of the center point of one end face of the phantom plate; when obtaining the initial coordinates, the phantom plate is not added with a guide wire, the phantom plate is stationary, and is parallel to the horizontal plane; when obtaining the end coordinates, the phantom plate is added with a guide wire along the horizontal direction, and the phantom plate is stationary;
受力计算模块：基于初始坐标和结束坐标确定体模平板的摆动角度，基于摆动角度和体模平板的总重确定导丝的受力。Force calculation module: determines the swing angle of the phantom plate based on the initial coordinates and the end coordinates, and determines the force of the guide wire based on the swing angle and the total weight of the phantom plate.
以上显示和描述了本发明的基本原理、主要特征和本发明的优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311710731.0A CN117705333B (en) | 2023-12-13 | 2023-12-13 | Suspension type interventional guide wire micro-force measurement method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311710731.0A CN117705333B (en) | 2023-12-13 | 2023-12-13 | Suspension type interventional guide wire micro-force measurement method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117705333A CN117705333A (en) | 2024-03-15 |
| CN117705333B true CN117705333B (en) | 2024-08-09 |
Family
ID=90147355
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311710731.0A Active CN117705333B (en) | 2023-12-13 | 2023-12-13 | Suspension type interventional guide wire micro-force measurement method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117705333B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101919697A (en) * | 2010-09-07 | 2010-12-22 | 上海交通大学 | Non-contact detection method for two-degree-of-freedom movement of interventional guide wire |
| CN110882060A (en) * | 2019-11-18 | 2020-03-17 | 北京唯迈医疗设备有限公司 | Interventional surgical robot guide wire friction force measuring device |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4878513B2 (en) * | 2006-03-27 | 2012-02-15 | 国立大学法人 名古屋工業大学 | Apparatus and method for measuring compressive force of flexible linear body |
| JP2009097949A (en) * | 2007-10-16 | 2009-05-07 | Nec Tokin Corp | Device and method of measuring torque transmission of superelastic wire rod |
| CN205459039U (en) * | 2016-03-03 | 2016-08-17 | 北京理工大学 | Principal and subordinate intervenes surgery robot from end operating means |
| CN112120792B (en) * | 2020-10-29 | 2025-03-21 | 北京唯迈医疗设备有限公司 | Interventional surgery robot guide wire friction feedback device and method |
| CN113456989A (en) * | 2021-06-29 | 2021-10-01 | 泰州健朗医疗器械有限公司 | Blood path module for measuring adhesive force of hydrophilic coating of interventional catheter and application of blood path module |
-
2023
- 2023-12-13 CN CN202311710731.0A patent/CN117705333B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101919697A (en) * | 2010-09-07 | 2010-12-22 | 上海交通大学 | Non-contact detection method for two-degree-of-freedom movement of interventional guide wire |
| CN110882060A (en) * | 2019-11-18 | 2020-03-17 | 北京唯迈医疗设备有限公司 | Interventional surgical robot guide wire friction force measuring device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117705333A (en) | 2024-03-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104758066B (en) | Equipment for surgical navigation and surgical robot | |
| JP7102115B2 (en) | Calibration method, calibration device, 3D measuring device, 3D visual measuring device, robot end effector, program, recording medium | |
| JP2020011339A (en) | Robot system control method and robot system | |
| CN114102256B (en) | Method, device and storage medium for recognizing geometric error of rotary axis of machine tool | |
| CN104807476A (en) | Pose estimation-based quick probe calibration device and method | |
| CN105806309A (en) | Robot zero calibration system and method based on laser triangulation ranging | |
| CN105278673A (en) | Method for supporting an operator in measuring a part of an object | |
| CN101900531B (en) | Method for measuring and calculating binocular vision displacement measurement errors and measuring system | |
| CN105865341B (en) | Industrial robot spatial pose repetitive positioning accuracy measuring device and method | |
| TWI509218B (en) | System and method for compensating perpendicular error of axes of three dimensional measuring machine | |
| JP3827549B2 (en) | Probe calibration method and calibration program | |
| WO2023134237A1 (en) | Coordinate system calibration method, apparatus and system for robot, and medium | |
| CN109983299A (en) | The measuring system and method for industrial robot | |
| CN115179323B (en) | Machine terminal posture measurement device and precision improvement method based on telecentric vision constraint | |
| Mu et al. | Calibration of a flexible measurement system based on industrial articulated robot and structured light sensor | |
| KR20110046767A (en) | Jig for calibration between robot and laser vision system and calibration method using the same | |
| Li et al. | Camera-mirror binocular vision-based method for evaluating the performance of industrial robots | |
| JP2005181293A (en) | Surface-copying measuring instrument, and method of preparing correction table for copying probe | |
| CN111360585A (en) | A method for acquiring real-time position error of tool end in robotic milling system | |
| CN106643601B (en) | The sextuple measurement method of parameters of industrial robot dynamic | |
| JP2018031701A (en) | Calibration method and calibration device | |
| CN117705333B (en) | Suspension type interventional guide wire micro-force measurement method and system | |
| JP2008281418A (en) | Method for estimating position and attitude | |
| Lu et al. | Six-axis position measurement system for levitated motion stages | |
| Zhou et al. | A segmental calibration method for a miniature serial-link coordinate measuring machine using a compound calibration artefact |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |