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Six-dimensional miniature force and torque sensor used for force feedback of minimally invasive surgical robot

A technology of torque sensor and miniature sensor, which is applied in the direction of instruments, simulators, computer control, etc., can solve the problem of difficult access to contact information, and achieve the effect of easy disassembly and strong biocompatibility

Inactive Publication Date: 2015-09-23
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that doctors cannot apply precise force to the corresponding affected part due to the difficulty in obtaining contact information with diseased tissues during minimally invasive surgery, and provides a robotic force for minimally invasive surgery. Six-dimensional miniature force and torque sensor for feedback

Method used

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  • Six-dimensional miniature force and torque sensor used for force feedback of minimally invasive surgical robot
  • Six-dimensional miniature force and torque sensor used for force feedback of minimally invasive surgical robot
  • Six-dimensional miniature force and torque sensor used for force feedback of minimally invasive surgical robot

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specific Embodiment approach 1

[0025] Specific implementation mode one: the following combination Figure 1 to Figure 5 Describe this embodiment, the six-dimensional miniature force and torque sensor for minimally invasive surgical robot force feedback described in this embodiment is characterized in that it includes an instrument shaft 1, a miniature sensor 2, a pulling device 3 and a detection circuit 4,

[0026] Miniature sensor 2 is made up of Stewart platform structure elastic body 2-1, twelve strain gauges 2-2, upper connector 2-3, lower connector 2-4 and casing 2-5; Upper connector 2-3 includes The upper connecting ring section 2-31 and the columnar upper support platform 2-32, the lower connecting piece 2-4 includes the lower connecting ring section 2-41 and the columnar lower supporting platform 2-42;

[0027] The pulling device 3 is composed of a sleeve 3-1 and a pull hook 3-2,

[0028] The columnar upper support platform 2-32 is coaxially located at the bottom of the upper connecting ring sectio...

specific Embodiment approach 2

[0034] Specific implementation mode two: the following combination Figure 6 and Figure 7 Describe this embodiment, this embodiment will further explain Embodiment 1, the detection circuit 4 includes a Wheatstone bridge 4-1, a conditioning amplifier circuit 4-2, a six-way analog multiplexer 4-3, a voltage follower 4- 4. Analog-to-digital conversion chips 4-5 and single-chip microcomputers 4-6,

[0035] The voltage signal output end of the strain gauge 2-2 is connected to the signal input end of the Wheatstone bridge 4-1, and the signal output end of the Wheatstone bridge 4-1 is connected to the signal input end of the conditioning amplifier circuit 4-2, and the conditioning amplifier circuit 4 The signal output end of -2 is connected to the signal input end of the six-way analog multiplexer 4-3, the signal output end of the six-way analog multiplexer 4-3 is connected to the signal input end of the voltage follower 4-4, and the voltage follower 4-4 The signal output end of t...

specific Embodiment approach 3

[0039] Specific Embodiment Three: This embodiment will further explain Embodiment One or Two. The top of the casing 2-5 is bonded to the columnar upper support platform 2-32, and the bottom end of the casing 2-5 is bonded to the columnar lower support platform. There is a gap between 2-42.

[0040] In this embodiment, a gap of 0.2 mm may be reserved between the casing 2-5 and the columnar lower support platform 2-42 to provide enough space for the deformation and overload protection of the Stewart platform structure elastic body 2-1.

[0041] The invention can be reliably integrated with multi-degree-of-freedom surgical instruments.

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Abstract

The invention discloses a six-dimensional miniature force and torque sensor used for force feedback of a minimally invasive surgical robot, and belongs to the technical field of miniature force sensors. The six-dimensional miniature force and torque sensor aims to solve the problem that the doctor cannot apply an accurate acting force on a corresponding affected part since contact information between the doctor and a diseased tissue is difficult to obtain during the minimally invasive surgery process. The six-dimensional miniature force and torque sensor comprises an instrument shaft, a miniature sensor, a traction device and a detection circuit, wherein the miniature sensor is composed of a Stewart platform-structure elastic body, 12 strain gauges, an upper connecting piece, a lower connecting piece and a sleeve shell, the upper connecting piece comprises an upper connecting ring section and a cylindrical upper supporting platform, and the lower connecting piece comprises a lower connecting ring section and a cylindrical lower supporting platform; the traction device is composed of a sleeve and a pull hook, the upper connecting ring section is fixed to the instrument shaft in an interference sleeving manner, the lower connecting ring section is connected with the sleeve through a pin shaft, the bottom end of the sleeve is provided with a sleeve bottom, and the center of the sleeve bottom is welded and fixed to the pull hook; and the detection circuit is connected with the strain gauges through twisted pairs. The six-dimensional miniature force and torque sensor is used for three-dimensional miniature force detection.

Description

technical field [0001] The invention relates to a six-dimensional miniature force and moment sensor used for force feedback of a minimally invasive surgical robot, belonging to the technical field of miniature force sensors. Background technique [0002] Minimally invasive surgery is an important technical method. Minimally invasive surgery has achieved revolutionary success in more and more traditional operations due to its advantages of less trauma, less surgical pain, and shorter hospital stay, including cholecystectomy, prostatectomy, appendectomy, and hysterectomy. nephrectomy, coronary artery bypass grafting, etc. [0003] However, minimally invasive surgery has inherent defects in perception and movement because it cannot directly approach the operating area: (1) Observation: The vibration generated by the hand shaking of the assistant will cause the instability of the laparoscope, which may easily cause visual interruption or Motion sickness, the doctor's hand-eye ...

Claims

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Application Information

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IPC IPC(8): G05B19/042
CPCG05B19/042G05B2219/2617
Inventor 付宜利李坤潘博张福海詹军成王树国
Owner HARBIN INST OF TECH
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