Force sensor for sensing surgical operating force

Abstract

The invention provides a force sensor for sensing surgical operating force. The force sensor comprises a sensing element and a contact probe. The sensing element is composed of a flexible beam, an upper vertical beam, a lower vertical beam, an upper base and a lower base. Semiconductor strain gages are arranged on the flexible beam, wherein the number of the semiconductor strain gages is 4N, and N is an integer larger than or equal to 1. The semiconductor strain gages constitute N groups of Wheatstone full bridge converters. The upper vertical beam and the lower vertical beam have the force transmission function and the supporting function. The upper surface of the contact probe is fixed to the lower base of the sensing element. The force sensor has the advantages of being high in flexibility, low in cost and small in size, can be integrated with the operation ends of various surgical operating instruments and achieves the function of sensing multi-dimension surgical operating force (including axial force, lateral force, twisting force and the like). The force sensor can be widely applied to the fields of surgery real-time force feedback, rotor assisted surgery, surgery simulation and training, rehabilitation training and the like.

Description

technical field [0001] The invention relates to the technical field of force sensing systems and surgical equipment, in particular to a multi-dimensional force-sensitive sensor for force detection during surgical operations in the form of a high-sensitivity probe based on a space flexible member. Background technique [0002] With the gradual improvement of the medical level, people pay more and more attention to the accuracy and safety of surgical operations, which has a lot to do with the technology, equipment and even the level of the surgeon used in the operation. Medical methods can no longer meet people's needs for high-precision, high-efficiency, and high-intelligence treatment effects. Most of the surgical instruments on the market today lack force perception and force feedback systems. The range of surgical operating force in the body is between ~0.5N-10N, and the resolution is 0.1N; clinical operations are mainly based on the experience of doctors, and only rely on...

AI Technical Summary

Problems solved by technology

[0006] (1) Endoscope: The force-sensing device of this product can detect the contact pressure with the tissue, but it cannot detect the friction force and torsion force, and the application range of the sensing device is limited to this product;

[0007] (2) Virtual surgical device: This type of product is used to replace the surgical operation of clinical surgical training doctors, but their force feedback device adopts the form of in vitro simulated unidirectional force, which is quite different from the actual clinical operation and has low sensitivity;

[0008] (3) Auxiliary surgical robot: This type of product can ensure the precise positioning and long-term stability of the operation, but its force sensing device is very simple. It can only detect the positive pressure between the robot’s operating end and the tissue based on a flat elastic metal sheet. Detection of one-dimensional clamping force

[0009] Obviously, the force-sensing system of existing medical equipment can no longer meet the needs of high-precision, high-efficiency, and high-intelligence surgical procedures in the development of today's medical technology.

[0010] Therefore, a multi-dimensional force sensitive sensor based on space flexible components is designed and developed to realize the real-time sensing function of surgical operation forces such as axial force, lateral force and torsional force, and solve the problem that the force sensing devices in current medical equipment can only detect The problem of one-dimensional clamping force, narrow application range, and insufficient sensitivity has very important scientific significance and practical application value for improving surgical accuracy and safety, reducing surgical risk, and standardizing surgical operations.

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