CN202105024U - Three-dimensional force sensor for surgical micro instrument - Google Patents
Three-dimensional force sensor for surgical micro instrument Download PDFInfo
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- CN202105024U CN202105024U CN2011201305757U CN201120130575U CN202105024U CN 202105024 U CN202105024 U CN 202105024U CN 2011201305757 U CN2011201305757 U CN 2011201305757U CN 201120130575 U CN201120130575 U CN 201120130575U CN 202105024 U CN202105024 U CN 202105024U
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- Prior art keywords
- spring beam
- bracing frame
- force sensor
- beam bracing
- elastomer
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- 210000000707 wrist Anatomy 0.000 claims abstract description 12
- 239000011888 foil Substances 0.000 claims abstract description 11
- 229920001971 elastomer Polymers 0.000 claims description 27
- 239000000806 elastomer Substances 0.000 claims description 27
- 239000000203 mixture Substances 0.000 claims description 4
- 238000009432 framing Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 4
- 230000010354 integration Effects 0.000 abstract 1
- 238000002357 laparoscopic surgery Methods 0.000 description 6
- 230000035945 sensitivity Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 5
- 238000004458 analytical method Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000003321 amplification Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
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- 229910000838 Al alloy Inorganic materials 0.000 description 1
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
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- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
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- 238000002432 robotic surgery Methods 0.000 description 1
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- 238000009958 sewing Methods 0.000 description 1
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- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
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- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The utility model relates to a three-dimensional force sensor for a surgical micro instrument. A multidimensional force sensor requires a great number of strain gauges to form bridge measurement, but the commercially sold strain gauge has the fixed structural form and size, so that the miniaturization and the integration of the sensor are further limited. The three-dimensional force sensor for the surgical micro instrument comprises a sensor (1), wherein the sensor is provided with a group of elastic beam supporting frames; elastic bodies are arranged in the group of elastic beam supporting frames; the front ends of the elastic beam supporting frames are connected with a separating pliers frame (2); the rear ends of the elastic beam supporting frames are connected with a wrist tail end (3); the elastic bodies are connected with a strain foil (4) with a full bridge converter; and the sensor is connected with an electric appliance interface box (5) by transmitting a receiving signal. The three-dimensional force sensor for the surgical micro instrument is used as a medical appliance.
Description
Technical field:
this utility model relates to a kind of medical device field, is specifically related to the little apparatus three-dimensional force sensor of a kind of operation.
Background technology:
laparoscopic surgery is a kind of of Minimally Invasive Surgery, with respect to abdominal, laparoscopic surgery have wound little, lose blood less, pain is light, recover advantage such as fast.Laparoscopic surgical instruments is to accomplish the crucial apparatus of laparoscopic surgery, and in the conventional laparoscopy operation, doctor directly manipulation little apparatus undergos surgery, and the as easy as rolling off a log generation of doctor is tired, thus the quality of influence operation; Simultaneously conventional laparoscopy little apparatus of performing the operation is the simple imitation to traditional open property operating theater instruments; Degree of freedom is few, motility is low, and the apparatus internal friction is big, causes mechanical information decay and doctor tired; There are shortcomings such as leverage in operation, and what be not easy to perform the operation carries out smoothly.
are in the robot laparoscopic surgery; Owing to lack force feedback necessary in the operation; Make that sewing up knotting becomes a difficult point in the robotic surgery; The doctor needs long period study to accomplish preferably to sew up the knotting action, usually take place since exert oneself excessive cause break stitching thread, loss tissue of patient and because the unstable phenomenon of knotting of the too small appearance of exerting oneself.
The problem that
lack force feedback can solve through integrated sensor on little apparatus; In some researchs in the past; Force transducer is all the time outside being placed on the patient body; Avoiding and need get into the size restrictions that human body brings through the sheath pipe, yet the active force between the sheath Guan Yuwei apparatus will bring very big inaccuracy to measurement.Best solution is exactly that pick off is integrated at the apparatus front end, and in operation technique, force transducer advances as in the patient body through sleeve pipe, to avoid the interaction between little apparatus and sleeve pipe, still can bring very big technical barrier like this.
Core of
little apparatus force transducer and technological difficulties are size sensor restriction and elastomeric design.Domestic and international achievement in research about little apparatus force transducer mainly concentrates on force transducer is installed between thin bar and the wrist.But pick off is placed on the stressing conditions that can not react little instrument end effector between thin bar and the wrist comparatively really.Particularly because the complicated wrist part structure and the restriction of size sensor make force transducer become the maximum difficult point of the little apparatus of force feedback type.
multi-dimension force sensor needs numerous strain gauge to constitute bridge measurement, and the strain gauge that commercialization is sold all has fixed version and size, like this with regard to the microminiaturization that further limited pick off and integrated.
Summary of the invention:
The purpose of
this utility model provides the simple elastomer of a kind of geometry, makes it under the prerequisite that can measure three-dimensional force, makes things convenient for the stickup and the group bridge of strain gauge simultaneously; The paste position of strain gauge is in one or several plane as far as possible, reduces the connection lead-in wire of strain gauge simultaneously.
Above-mentioned purpose realizes through following technical scheme:
The little apparatus three-dimensional force sensor of
a kind of operation; Its composition comprises: pick off, described pick off have one group of spring beam bracing frame, in described one group of spring beam bracing frame elastomer are housed; Described spring beam supporting framing front end connects and separates tong holder; It is terminal that described spring beam bracing frame rear end connects wrist, and described elastomer connects the foil gauge that has full-bridge circuit, and described pick off is through transmitting and receiving signal connecting circuit interface box.
The little apparatus three-dimensional force sensor of
described operation; Described one group of spring beam bracing frame comprises preceding spring beam bracing frame; Elastomer before the spring beam bracing frame connects before described; Spring beam bracing frame during elastomer connects before described, described middle spring beam bracing frame connects the back elastomer, spring beam bracing frame after described back elastomer connects.
The little apparatus three-dimensional force sensor of
described operation, described electrical apparatus interface box has the circuit board of signals collecting amplifying circuit.
The little apparatus three-dimensional force sensor of
described operation is characterized in that: described one group of spring beam bracing frame is connected fixingly with described separate between the tong holder through one group of bolt, described wrist end is equipped with connecting bolt.
Beneficial effect:
1. this utility model elastomer structure is simple, is of the required size, and the strain sensitive district is in single surface, space; Highly sensitive, resolution is high, the linearity is better; Has enough rigidity, reliably bearing capacity and overload protection measure.
Little, the compact conformation of overall volume of
this utility model; Be convenient to machining, the composition element mechanical interface is reasonable, is convenient to install.
The elastomer geometry of
this utility model is simple, under the prerequisite that can measure three-dimensional force, makes things convenient for the stickup and the group bridge of strain gauge simultaneously; The paste position of strain gauge is in one or several plane as far as possible, has reduced the connection lead-in wire of strain gauge simultaneously.
The high sensitivity double-layer cross beam sensor structure of
this utility model; And according to the pick off requirements of installation space; Confirm placement location and arrangement mode and the corresponding bridge circuit and the signals collecting amplifying circuit of foil gauge, solved the sensor signal problem of smaller.
The electric bridge of
this utility model has improved that sensitivity, the measuring range of measuring bridge voltage is wide, circuit structure is simple, precision is high, realized the temperature-compensating purport.
this utility model has reasonably solved sensing element improves electric bridge under different stress conditions problem such as sensitivity, temperature-compensating.
Description of drawings:
accompanying drawing 1 is the structural representation of this product.
accompanying drawing 2 is the double-deck spring beam structure charts of the foil gauge paste position of accompanying drawing 1.
accompanying drawing 3 is full-bridge circuit figure of accompanying drawing 1.
accompanying drawing 4 is signal conditioning circuit schematic diagrams of accompanying drawing 1.
The specific embodiment:
Embodiment 1:
The little apparatus three-dimensional force sensor of
a kind of operation; Its composition comprises: pick off 1, and described pick off 1 has one group of spring beam bracing frame, in described one group of spring beam bracing frame elastomer is housed; Described spring beam supporting framing front end connects and separates tong holder 2; Described spring beam bracing frame rear end connects wrist end 3, and described elastomer connects the foil gauge 4 that has full-bridge circuit, and described pick off is through transmitting and receiving signal connecting circuit interface box 5.
described electrical apparatus interface box has the circuit board of signals collecting amplifying circuit.
Embodiment 2:
The little apparatus three-dimensional force sensor of
embodiment 1 described operation; Described one group of spring beam bracing frame comprises preceding spring beam bracing frame 6; Elastomer 7 before spring beam bracing frame 6 connects before described; Spring beam bracing frame 8 during elastomer 7 connects before described, described middle spring beam bracing frame 8 connects back elastomers 9, spring beam bracing frame 10 after described back elastomer 9 connects.
Embodiment 3:
The little apparatus three-dimensional force sensor of
embodiment 1 described operation, described one group of spring beam bracing frame is connected fixingly with described separate between the tong holder through one group of bolt, and described wrist end is equipped with connecting bolt 11.
Embodiment 4:
The little apparatus three-dimensional force sensor of
the described operation of above embodiment; Described elastomer adopts cross beam type elastomer, because decussate texture is simple, is easy to processing and machining accuracy and is easy to guarantee; Be suitable for miniature requirement, and be suitable for improving precision.
The material of
sensor elastomer is chosen as aluminium alloy LY12 (2024), and properties of materials is: normal elastic modulus E=71705.4Mpa; Anti-shearing elastic modulus G=26889.6MPa; Poisson's coefficient μ=0.33; Density p=2.82341 (g/cm3).The sensor stand material is selected 1cr18ni9ti.Elasticity beam length 2mm, wide 0.8mm, thick 0.2mm, pick off diameter are 9mm, height pastes 8 foil gauges for 14mm. respectively at the tow sides of four beams.Two foil gauges about being attached on the corresponding spring beam are formed half-bridges, reduce the influence of temperature to certainty of measurement.
Finite element analysis:
The analysis of finite element static mechanical is carried out in
in engineering software ANSYS after Preliminary design.Act on the power on the pliers 
Be equivalent to the power that acts on the pick off spring beam
, elastomer carries out modeling, and carries out finite element analysis; Elastomer has certain coupling to the load of three directions; This is that most of multi-dimension force sensors are unavoidable, and some elastic deformation area is responsive to the force rate of certain direction, and is insensitive to the strain that the power of other directions produces.Can obtain decoupling zero effect preferably through decoupling zero afterwards.
The sheet bridge circuit is built:
sensor processing circuit design mainly comprises the content of the following aspects: bridge design, signal condition amplifying circuit, accomplish the collection to signal through oscillograph then.Bridge design is mainly wide with the sensitivity, the measuring range that improve measuring bridge voltage, circuit structure is simple, precision is high, realize that easily temperature-compensating etc. is an aim.The signals collecting amplifying circuit is mainly accomplished amplification, filtering signals of output voltage signal etc.
The SS-060-033-500PU S4 type silicon semiconductor foil gauge that strain gauge of sensor selects Micro instruments company to produce, each S4 has 4 resistances and temperature coefficient same strain sheet, be suitable for forming full-bridge circuit, and foil gauge is of a size of 1.5mm 
0.4mm it is (long
Wide), meet dimensional requirement, its sensitivity coefficient K=140; Bridge voltage UO=5V, circuit electric bridge paster utilize four foil gauges to form full-bridge circuits, can rationally solve sensing element improves electric bridge under different stress conditions problems such as sensitivity, temperature-compensating; Know by principle of sensing element; Strain gauge R1 and R3 answer Variable Polarity consistent, and strain gauge R2 and R4 answer Variable Polarity consistent, and opposite with the strain polarity of strain gauge R1 and R2.
The signal condition amplifying circuit:
are delivered to full-bridge output on the signal condition amplifying circuit of little apparatus front end through shielded cable because the restriction of little apparatus end spaces is placed on little apparatus front end with the strain bridge circuit.Amplifying circuit adopts instrument amplifier AD620 that electric bridge output signal is carried out the two-stage amplification.In order to make the electric bridge stable output signal, the electric bridge input voltage is selected 5V.
The pick off mounting means:
pick off adopts the double-layer cross girder construction.The sensor elastomer is installed in pick off on little apparatus by 3 spring beam bracing frames; Pick off in the installation site on little apparatus between wrist and elastic separating plier; Utilize four screws that pick off one end is installed in wrist, through bolt with pick off with separate binding clip and couple together.
Claims (4)
- One kind the operation little apparatus three-dimensional force sensor; Its composition comprises: pick off is characterized in that: described pick off has one group of spring beam bracing frame, in described one group of spring beam bracing frame elastomer is housed; Described spring beam supporting framing front end connects and separates tong holder; It is terminal that described spring beam bracing frame rear end connects wrist, and described elastomer connects the foil gauge that has full-bridge circuit, and described pick off is through transmitting and receiving signal connecting circuit interface box.
- 2. the little apparatus three-dimensional force sensor of operation according to claim 1; It is characterized in that: described one group of spring beam bracing frame comprises preceding spring beam bracing frame; Elastomer before the spring beam bracing frame connects before described; Spring beam bracing frame during elastomer connects before described, described middle spring beam bracing frame connects the back elastomer, spring beam bracing frame after described back elastomer connects.
- 3. the little apparatus three-dimensional force sensor of operation according to claim 1 and 2 is characterized in that: described one group of spring beam bracing frame is connected fixingly with described separate between the tong holder through one group of bolt, described wrist end is equipped with connecting bolt.
- 4. the little apparatus three-dimensional force sensor of operation according to claim 1 and 2, it is characterized in that: described electrical apparatus interface box has the circuit board of signals collecting amplifying circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201305757U CN202105024U (en) | 2011-04-28 | 2011-04-28 | Three-dimensional force sensor for surgical micro instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201305757U CN202105024U (en) | 2011-04-28 | 2011-04-28 | Three-dimensional force sensor for surgical micro instrument |
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| Publication Number | Publication Date |
|---|---|
| CN202105024U true CN202105024U (en) | 2012-01-11 |
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ID=45430478
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011201305757U Expired - Fee Related CN202105024U (en) | 2011-04-28 | 2011-04-28 | Three-dimensional force sensor for surgical micro instrument |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104932381A (en) * | 2015-06-24 | 2015-09-23 | 哈尔滨工业大学 | Six-dimensional miniature force and torque sensor used for force feedback of minimally invasive surgical robot |
| CN104932382A (en) * | 2015-06-24 | 2015-09-23 | 哈尔滨工业大学 | Three-dimensional miniature force sensor used for touch diagnosis in minimally invasive environment |
| CN105606272A (en) * | 2015-10-30 | 2016-05-25 | 哈尔滨工程大学 | 3D force measuring sensor and surgery micro-mechanical finger tip using 3D force measuring sensor |
| CN107072691A (en) * | 2014-07-29 | 2017-08-18 | 直观外科手术操作公司 | The intubation of sensor with measurement patient's body wall power |
| CN108542469A (en) * | 2018-02-14 | 2018-09-18 | 天津大学 | Six-dimension force sensor, clamping probe based on image feedback and instrument |
| CN113940714A (en) * | 2021-11-03 | 2022-01-18 | 苏州大学 | A needle-holding forceps for minimally invasive surgery with force sensing function |
| WO2022052323A1 (en) * | 2020-09-10 | 2022-03-17 | 苏州大学 | Minimally invasive surgical robot and tail end actuator thereof |
| US11726106B2 (en) | 2013-11-13 | 2023-08-15 | Intuitive Surgical Operations, Inc. | Integrated Fiber Bragg Grating accelerometer in a surgical instrument |
| US12239393B2 (en) | 2020-05-18 | 2025-03-04 | Intuitive Surgical Operations, Inc. | Hard stop that produces a reactive moment upon engagement for cantilever-based force sensing |
-
2011
- 2011-04-28 CN CN2011201305757U patent/CN202105024U/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11726106B2 (en) | 2013-11-13 | 2023-08-15 | Intuitive Surgical Operations, Inc. | Integrated Fiber Bragg Grating accelerometer in a surgical instrument |
| US11369411B2 (en) | 2014-07-29 | 2022-06-28 | Intuitive Surgical Operations, Inc. | Cannula with sensors to measure patient bodywall forces |
| CN107072691A (en) * | 2014-07-29 | 2017-08-18 | 直观外科手术操作公司 | The intubation of sensor with measurement patient's body wall power |
| CN107072691B (en) * | 2014-07-29 | 2019-09-03 | 直观外科手术操作公司 | Cannula with sensors that measure the force of the patient's body wall |
| US10470796B2 (en) | 2014-07-29 | 2019-11-12 | Intuitive Surgical Operations, Inc. | Cannula with sensors to measure patient bodywall forces |
| CN104932382A (en) * | 2015-06-24 | 2015-09-23 | 哈尔滨工业大学 | Three-dimensional miniature force sensor used for touch diagnosis in minimally invasive environment |
| CN104932381A (en) * | 2015-06-24 | 2015-09-23 | 哈尔滨工业大学 | Six-dimensional miniature force and torque sensor used for force feedback of minimally invasive surgical robot |
| CN105606272A (en) * | 2015-10-30 | 2016-05-25 | 哈尔滨工程大学 | 3D force measuring sensor and surgery micro-mechanical finger tip using 3D force measuring sensor |
| CN105606272B (en) * | 2015-10-30 | 2018-02-13 | 哈尔滨工程大学 | The micro- apparatus finger tip of operation of three-dimensional force transducer and application three-dimensional force transducer |
| WO2019157806A1 (en) * | 2018-02-14 | 2019-08-22 | 天津大学 | Six-dimensional force sensor based on image feedback, clamping probe, and clamping apparatus |
| CN108542469A (en) * | 2018-02-14 | 2018-09-18 | 天津大学 | Six-dimension force sensor, clamping probe based on image feedback and instrument |
| US12239393B2 (en) | 2020-05-18 | 2025-03-04 | Intuitive Surgical Operations, Inc. | Hard stop that produces a reactive moment upon engagement for cantilever-based force sensing |
| WO2022052323A1 (en) * | 2020-09-10 | 2022-03-17 | 苏州大学 | Minimally invasive surgical robot and tail end actuator thereof |
| CN113940714A (en) * | 2021-11-03 | 2022-01-18 | 苏州大学 | A needle-holding forceps for minimally invasive surgery with force sensing function |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120111 Termination date: 20120428 |