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
View PDF5 Cites 0 Cited by
  • 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 inf

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • 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

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

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

[0026] The miniature sensor 2 is composed of a Stewart platform structure elastomer 2-1, twelve strain gauges 2-2, an upper connecting piece 2-3, a lower connecting piece 2-4 and a casing 2-5; the upper connecting piece 2-3 includes The upper connecting ring segment 2-31 and the columnar upper support platform 2-32, the lower connecting piece 2-4 includes the lower connecting ring segment 2-41 and the columnar lower support platform 2-42;

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

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

Example Embodiment

[0034] Specific implementation manner 2: the following combination Image 6 with Figure 7 This embodiment will be described. This embodiment will further explain the first embodiment. The detection circuit 4 includes a Wheatstone bridge 4-1, a conditioning amplifier circuit 4-2, a six-channel analog multiplexer 4-3, and a voltage follower 4- 4. Analog-to-digital conversion chip 4-5 and MCU 4-6,

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

Example Embodiment

[0039] Specific embodiment 3: This embodiment will further explain the first or second embodiment. The top end of the casing 2-5 is bonded and fixed with the columnar upper support platform 2-32, and the bottom end of the casing 2-5 is connected with the columnar lower support platform. There is a gap between 2-42.

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

[0041] The invention can be reliably integrated with surgical instruments with multiple degrees of freedom.

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

PropertyMeasurementUnit
Thicknessaaaaaaaaaa
Login to view more

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
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
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap