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Haptic Feedback System for Minimally Invasive Surgical Instruments

A minimally invasive surgery and tactile feedback technology, applied in the field of medical devices, achieves the effects of easy calibration, reduced development costs, and small moment of inertia

Active Publication Date: 2016-08-10
SHANGHAI UNIV OF ENG SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, there is no commercially available tactile feedback system that can be integrated in minimally invasive surgical instruments.

Method used

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  • Haptic Feedback System for Minimally Invasive Surgical Instruments
  • Haptic Feedback System for Minimally Invasive Surgical Instruments

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0025] see figure 1 , with reference to figure 2 , the tactile feedback system of the minimally invasive surgical instrument of the present invention comprises a slender rod 1 of the minimally invasive surgical instrument and an end effector 8 connected thereto, the end effector is provided with an opening and closing joint, and the slender rod of the minimally invasive surgical instrument It is provided with a pitch joint; it also includes a first elastic device 9, a connecting piece 3 with a flexible deformation capability, a second elastic device 2, a first pair of rollers 7, a second pair of rollers 6, an indicator 4, a measuring element 5 and Computer control system 10.

[0026] The distal end of the first elastic device 9 is connected to the distal inner side of the end effector;

[0027] The distal end of the connector 3 with flexible deformation capability is connected with the proximal end of the first elastic device;

[0028] The distal end of the second elastic ...

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Abstract

A tactile feedback system for a minimally invasive surgical instrument, comprising a slender rod of the minimally invasive surgical instrument and an end effector connected thereto, a first elastic device, a connecting piece with flexible deformation capability, a second elastic device, a first A pair of rollers, a second pair of rollers, an indicator, a measuring element and a computer control system. The position of the indicator can be read from the measuring element installed in the slender rod of the minimally invasive surgical instrument, and the computer control system reads the reading of the measuring element, converts and judges the magnitude of the force applied to the inner side of the end effector. The invention has the advantages of simple structure, high sensitivity and low cost.

Description

technical field [0001] The invention relates to medical instruments, in particular to a tactile feedback system for minimally invasive surgical instruments. Background technique [0002] 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. [0003] But the method of per...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/30
Inventor 张帆刘燕宋芳张立方顾斌李彬彬
Owner SHANGHAI UNIV OF ENG SCI
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