CN104274244B - The haptic feedback system of Minimally Invasive Surgery apparatus - Google Patents
The haptic feedback system of Minimally Invasive Surgery apparatus Download PDFInfo
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- CN104274244B CN104274244B CN201310279281.4A CN201310279281A CN104274244B CN 104274244 B CN104274244 B CN 104274244B CN 201310279281 A CN201310279281 A CN 201310279281A CN 104274244 B CN104274244 B CN 104274244B
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- minimally invasive
- invasive surgery
- surgery apparatus
- measuring cell
- submissive
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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
Technical field
The present invention relates to medical apparatus and instruments, particularly to the haptic feedback system of a kind of Minimally Invasive Surgery apparatus.
Background technology
In micro-wound surgical operation, the operation that robot works in coordination with is more and more universal.In this type of is performed the operation, surgeon
The motion of the operating theater instruments at surgery location is controlled by operating active controller.Driving link generally include one or
Multiple hands input equipment, such as action bars, handpiece or the like, they to move through servo motor driven driven
Part realizes.Driven member operates through otch at surgery location (such as, the abdominal cavity of patient).According to operation journey
Sequence, uses the apparatus such as nipper, calcination probe, helps surgeon to carry out various operation, as sewed up, tie a knot, grabbing
Hold blood vessel or dissection, calcination or solidified structure etc..
But the method being implemented robotic surgery by " non-at-scene " mode also faces a lot of challenge.One of which is challenged
It is that surgical operation robot system is not provided that the surgeon accurately " feeling " to feed back to operation apparatus.Outward
Section doctor needs the power (moment) according to feedback accurately to control driven member and operate, excessive to avoid applying
Li Shi organ or tissue is crushed.
The sense of touch feedback problem of micro-wound surgical operation has much difficulty.Virtual reality, 3D vision can partly replace touching
Feel that help doctor understands the operational circumstances of operating theater instruments, but above two method cannot realize palpation, thus cannot lead to
Cross touching organ, tissue checks tumor, pathological tissues.
When using sensor to obtain the power applied to instrument tip, it is faced with limited space, the problem being difficult to sterilize.
In order to reduce the misery of patient, the diameter of laparoscopic surgical instruments and robot micro-wound operation apparatus is less than 12mm,
And operation part needs high-temperature sterilization (at a normal atmosphere, the high temperature ring of 121 DEG C within patient abdominal cavity
Sterilize under border at least 15 minutes), this is difficult to accept for most commercial sensor equipment.Part can
Expensive to adapt to the pressure transducer of hot environment.Therefore, yet there are no being integrated in of a kind of commercialization micro-
Haptic feedback system in invasive procedures apparatus.
Summary of the invention
The purpose of the present invention, it is simply that in order to provide a kind of simple in construction, Minimally Invasive Surgery highly sensitive, with low cost
The haptic feedback system of apparatus.
The object of the present invention is achieved like this: the haptic feedback system of a kind of Minimally Invasive Surgery apparatus, including Wicresoft's hands
The elongate rod of art apparatus and the end effector being attached thereto, end effector is provided with folding joint, Minimally Invasive Surgery device
The elongate rod of tool is provided with pitching joint；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.
Described indication piece is pointer, and this pointer contacts with measuring cell and is connected, and measuring cell can control system by computer
System reads pointer position on measuring cell.
Roller in described first pair roller group and the second pair roller group is all small diameter long rod roller.
Described first elastic device and the second elastic device are spring, air bag or liquid capsule.
The invention has the beneficial effects as follows:
1. utilizing some simple components and parts, simple in construction, easy for installation, rotary inertia is little, and motion response is fast.
2. demarcate easily, control simple, thus reduce development cost.
Accompanying drawing explanation
Fig. 1 is the structural representation of the haptic feedback system of Minimally Invasive Surgery apparatus of the present invention.
Fig. 2 is the operation principle schematic diagram of the haptic feedback system of Minimally Invasive Surgery apparatus of the present invention.
Detailed description of the invention
Seeing Fig. 1, coordinate and see Fig. 2, the haptic feedback system of the Minimally Invasive Surgery apparatus of the present invention, including Wicresoft
The elongate rod 1 of operating theater instruments and the end effector 8 being attached thereto, end effector is provided with folding joint, Wicresoft
The elongate rod of operating theater instruments is provided with pitching joint；Also include the first elastic device 9, there is the company of submissive deformability
Fitting the 3, second elastic device the 2, first pair roller group the 7, second pair roller group 6, indication piece 4, measuring cell
5 and computerized control system 10.
The far-end of the first elastic device 9 is connected with the distal medial of end effector；
The near-end of the far-end and the first elastic device with the connector 3 of submissive deformability is connected；
The far-end of the second elastic device 2 is connected with the near-end of the connector 3 with submissive deformability, and its near-end is pacified
It is contained in the elongate rod 1 of Minimally Invasive Surgery apparatus；
First pair roller group 7 is arranged on the both sides of the folding joints axes of end effector 8, its roller axis with open
The axis closing joint is parallel；
Second pair roller group 6 is arranged on the axis both sides in the pitching joint of Minimally Invasive Surgery apparatus elongate rod 1, its roller
Axis is parallel with the axis in pitching joint；
The above-mentioned connector 3 with submissive deformability passes successively in the middle of above-mentioned two pair rollers 6,7；
Indication piece 4 is fixed on the connector 3 with submissive deformability；
In measuring cell 5 is arranged on Minimally Invasive Surgery apparatus elongate rod 1 and with the connector 3 with submissive deformability
Parallel；
Computerized control system 10 is connected with measuring cell 5 signal of telecommunication, reads the reading of measuring cell, converts and sentence
Break and the size being applied to the power inside end effector.
Indication piece 4 in the present invention is pointer, and this pointer contacts with measuring cell 5 and is connected, and measuring cell can pass through
Computerized control system 10 reads pointer position on measuring cell.
The first pair roller group 7 in the present invention and the roller in the second pair roller group 6 are all the rollings of small diameter long rod
Post.
Above-mentioned first elastic device and the second elastic device are spring, air bag or liquid capsule.
The operation principle of the present invention can be described as follows in conjunction with Fig. 2:
When end effector 8 is around folding joint or pitching articulation, there is the connector 3 of submissive deformability
Bend under roller group 6,7 effect that diameter is less, but owing to the diameter of roller is less, make that there is submissive deformation
Minor variations, measuring cell 5 is there is in the connector 3 of ability with the position of the indication piece 4 being arranged on connector 3
Read the position of indication piece 4.
When end effector 8 end clamping object, the first elastic device 9 deforms under the effect of contact force,
First elastic device 9 near-end rearward moves, and has submissive deformability with the first elastic device 9 near-end is connected
Connector 3 be moved rearwards by under the effect of the first elastic device 9 and the second elastic device 2, make to be arranged on and have
Indication piece 4 on the connector 3 of submissive deformability occurs the most mobile, and measuring cell 5 reads indication piece
Position.
When removing chucking power, under the first elastic device 9 and the second elastic device 2 act on, connector 3 returns to
Initial position, measuring cell 5 reads the position of indication piece 4 and returns to 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310279281.4A CN104274244B (en) | 2013-07-04 | 2013-07-04 | The haptic feedback system of Minimally Invasive Surgery apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310279281.4A CN104274244B (en) | 2013-07-04 | 2013-07-04 | The haptic feedback system of Minimally Invasive Surgery apparatus |
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| Publication Number | Publication Date |
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| CN104274244A CN104274244A (en) | 2015-01-14 |
| CN104274244B true CN104274244B (en) | 2016-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310279281.4A Active CN104274244B (en) | 2013-07-04 | 2013-07-04 | The haptic feedback system of Minimally Invasive Surgery apparatus |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105662478B (en) * | 2015-12-23 | 2019-01-25 | 电子科技大学 | A kind of palpation instrument and application method for robot assisted Minimally Invasive Surgery |
| US10856947B2 (en) * | 2016-01-26 | 2020-12-08 | Sony Corporation | Grip force sensation feedback device and stylus-type force sensation feedback device |
| CN106955129B (en) * | 2017-05-09 | 2023-04-28 | 佛山衡生医疗自动化有限公司 | Minimally invasive surgical instrument with force feedback |
| CN108042162B (en) * | 2017-12-21 | 2020-06-16 | 微创（上海）医疗机器人有限公司 | Surgical robot system and surgical instrument thereof |
| CN111991088B (en) * | 2020-09-10 | 2022-02-11 | 苏州大学 | Minimally invasive surgery robot and tail end clamp holder thereof |
| CN111991089B (en) * | 2020-09-10 | 2022-02-11 | 苏州大学 | Minimally invasive surgery robot and tail end integrated clamp holder thereof |
| CN111991087B (en) * | 2020-09-10 | 2022-02-11 | 苏州大学 | Minimally invasive surgery robot and end effector thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5865724A (en) * | 1996-01-11 | 1999-02-02 | Symbiosis Corp. | Flexible microsurgical instruments incorporating a sheath having tactile and visual position indicators |
| US6538634B1 (en) * | 1998-12-18 | 2003-03-25 | Kent Ridge Digital Labs | Apparatus for the simulation of image-guided surgery |
| CN101160104A (en) * | 2005-02-22 | 2008-04-09 | 马科外科公司 | Haptic guidance system and method |
| CN101283924A (en) * | 2007-04-13 | 2008-10-15 | Tyco医疗健康集团 | Powered surgical instrument |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8423182B2 (en) * | 2009-03-09 | 2013-04-16 | Intuitive Surgical Operations, Inc. | Adaptable integrated energy control system for electrosurgical tools in robotic surgical systems |
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2013
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5865724A (en) * | 1996-01-11 | 1999-02-02 | Symbiosis Corp. | Flexible microsurgical instruments incorporating a sheath having tactile and visual position indicators |
| US6538634B1 (en) * | 1998-12-18 | 2003-03-25 | Kent Ridge Digital Labs | Apparatus for the simulation of image-guided surgery |
| CN101160104A (en) * | 2005-02-22 | 2008-04-09 | 马科外科公司 | Haptic guidance system and method |
| CN101283924A (en) * | 2007-04-13 | 2008-10-15 | Tyco医疗健康集团 | Powered surgical instrument |
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| CN104274244A (en) | 2015-01-14 |
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