3D Force Sensors for Minimally Invasive Medical Devices

Abstract

The invention belongs to the field of medical instruments, and specifically relates to a three-dimensional force transducer used for a minimally invasive medical device. The force transducer includesa flat spring, a groove type outer tube, an inner tube, external optical fibers, a center optical fiber, an upper pedestal and a lower pedestal; the upper and lower ends of the groove type outer tubeare respectively connected to the upper pedestal and the lower pedestal; the outer side of the flat spring is connected to the upper end part of the groove type outer tube; the inner tube successivelypasses through the lower pedestal and the groove type outer tube, the upper end of the inner tube is connected to the inner side of the flat spring, and the lower end of the inner tube is connected to the lower pedestal; the center optical fiber passes through the inner tube, and the two ends of the center optical fiber are respectively connected to the upper pedestal and the lower pedestal; andthe outer surface of the inner tube circumferentially adheres multiple external optical fibers. The force transducer can realize stiffness matching in three-dimensional force direction, and has less length-diameter ratio, so that high precision force detection accuracy can be realized, and the stiffness of operative instruments cannot be excessively weakened; and light can be adopted as a signal acquisition and transmission manner, so that good electromagnetic compatible characteristics can be achieved.

Description

technical field [0001] The invention belongs to the field of medical equipment, in particular to a three-dimensional force sensor for minimally invasive medical equipment. Background technique [0002] In the process of minimally invasive diagnosis and treatment, the contact force information between surgical instruments and biological soft tissues is very important for the safety and effectiveness of the operation. In the traditional operation process, the operator cannot obtain quantitative information, and relies on the touch to perceive the contact between the surgical instrument and the soft tissue and judge it visually. Force information can prompt and warn the operator. [0003] With the development of surgical robot technology, the way that traditional doctors directly manipulate surgical instruments has changed. Most of them operate in a master-slave manner, and operate surgical instruments by operating a dedicated multi-degree-of-freedom handle remote-controlled s...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem of lack of highly integrated, stable and reliable force sensors for minimally invasive medical devices, the purpose of the present invention is to provide a three-dimensional force sensor for minimally invasive medical devices

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