Six-dimensional force sensor, clamping probe and clamping instrument based on image feedback

Abstract

The disclosure provides a six-dimensional force sensor based on image feedback, a clamping probe and a clamping instrument, including: a contact end; an elastic deformation body, which deforms when the contact end is subjected to force; a marking block, including N feature points, when the deformation of the elastic deformable body causes the contact end to shift and / or deflect, the marking block moves and / or rotates with the contact end, N≥4; the base is set in close contact with the elastic deformable body to support the elasticity The deformation body; the image information recognition module is used to capture and process the image information of the marked block in real time; and the contact force modeling module is used to obtain the contact force between the contact end and the human tissue by using the processed image information. The six-dimensional force sensor based on image feedback, the clamping probe and the clamping instrument provided by the present disclosure adopt the detection method based on image feedback, so that the doctor can effectively understand the clamping force between the end of the surgical instrument and the patient's human tissue, and improve the Efficiency and safety of surgery.

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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