Three-dimensional force sensor for minimally invasive surgery robot

Abstract

The invention provides a three-dimensional force sensor for a minimally invasive surgery robot. The sensor is a sensor array consisting of eight strain gages; the sensor array is arranged at the periphery of a hollow metal round bar close to the tail end of a manipulator, and divided into two regions for measuring a radial force and an axial force of the round bar; four rectangular planes which are orthogonal to one another and used for installing strain gages are machined in the radial force measurement region; the opposite faces of the four strain gages form two half bridges; each half bridge outputs three signal wires; the signal wires enter the hollow metal round bar from a wire-leading hole, and are led out from the connecting end of the manipulator; two pairs of strain gages are arranged at opposite positions of the axial force measurement region; the four strain gages are symmetrically arranged so as to form a Poisson bridge; the Poisson bridge outputs four signal wires; and the signal wires enter the round bar from the wire-leading hole and are led out from the connecting end of the manipulator. A metal foil for electromagnetic shielding is covered at the peripheries of the strain gages. The three-dimensional force sensor for the minimally invasive surgery robot has a simple structure, high sensitivity and low cost, and is easy to machine.

Description

technical field [0001] The invention belongs to the technical field of minimally invasive surgical robots, and in particular relates to a three-dimensional force sensor for minimally invasive surgical robots. Background technique [0002] With the help of force telepresence provided by the surgical robot system, doctors can truly feel the dynamic interaction between the manipulator and the patient, helping doctors complete complex and precise operations. The lack of force information will lead to medical accidents. [0003] The basic method to realize the force feedback function on the minimally invasive surgical robot is: install sensors on the surgical operation manipulator to collect multi-dimensional force signals, send them to the controller of the doctor's operator after processing, and control the motors of each axis to output the corresponding torque. The doctor can truly feel the constantly changing force information during the operation. The force sensor is an imp...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem of lack of sense of presence for surgeons when using

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