Six-dimensional force sensor based on image feedback, six-dimensional force sensing clamping probe based on image feedback and six-dimensional force sensing clamping apparatus based on image feedback

Abstract

The invention provides a six-dimensional force sensor based on image feedback, a six-dimensional force sensing clamping probe based on image feedback, and a six-dimensional force sensing clamping apparatus based on image feedback. The six-dimensional force sensor comprises a contact end, an elastic deformation body, a marking block, a base, an image information identification module and a contactforce modeling module, wherein when the contact end is subjected to acting force, the elastic deformation body deforms; the marking block comprises N feature points, when the elastic deformation bodydeforms so as to enable the contact end to deviate and / or deflect, the marking block moves and / or rotates following the contact end, and N is greater than or equal to 4; the base attaches to the elastic deformation body for supporting the elastic deformation body; the image information identification module is used for capturing the image information of the marking block in real time and processing the image information; the contact force modeling module is used for obtaining the contact force between the contact end and the human tissue by utilizing the processed image information. For the six-dimensional force sensor based on image feedback, the six-dimensional force sensing clamping probe based on image feedback, and the six-dimensional force sensing clamping apparatus based on image feedback provided by the invention, the detection method based on image feedback is adopted, so that a doctor can effectively know the clamping force between the tail end of the surgical instrument andthe human tissue of a patient, and thus the efficiency and safety of the surgery are improved.

Description

technical field [0001] The present disclosure relates to the technical field of clamping instruments for minimally invasive surgery, in particular to a six-dimensional force sensor based on image feedback, a clamping probe and a clamping instrument. Background technique [0002] Minimally invasive surgery refers to the operation in which doctors use long and thin surgical tools to penetrate into the body through tiny incisions on the surface of the human body. Compared with traditional open surgery, minimally invasive surgery brings great benefits to patients, including greatly reducing the trauma area, reducing intraoperative blood loss, reducing surgical risks and complications, reducing postoperative pain, reducing Surgical trauma scars, shorter hospitalization time, etc. [0003] In the process of minimally invasive surgery, doctors perform surgical operations with the help of slender minimally invasive surgical instruments. One end of the surgical instrument is held by...

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Problems solved by technology

[0004] However, in the process of realizing the present disclosure, the inventors of the present disclosure have found that although minimally invasive surgery has brought obvious benefits to patients, it has put forward higher requirements for doctors' surgical skills

The surgeon's lack of tactile sensing of the lesion tissue and the end of the surgical tool reduces the flexibility of the doctor's hand operation, making the surgical operation lack of hand-eye coordination, which brings many unfavorable factors to the surgical operation, such as: Potential safety issues , prolong the operation time, and make doctors rely heavily on visual feedback, etc., which greatly affect the smooth progress of minimally invasive surgery

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