Minimally invasive surgery needle-holding forceps with force sensing function

Abstract

The invention relates to a minimally invasive surgery needle-holding forceps with a force sensing function, which comprises a clamping forceps part for clamping a surgical suture needle, and a needle holding groove is formed in the clamping forceps part for stably clamping the surgical suture needle; a force sensing part which comprises a hollow elastic body and a supporting column which are matched with each other; the top end of the hollow elastic body is connected with the bottom end of the clamping forceps part, and the hollow elastic body sleeves the supporting column; a three-dimensional force sensor and a metal probe are placed on the supporting column, one end of the metal probe is connected with the three-dimensional force sensor, and the inner top end of the hollow elastic body is connected with the other end of the metal probe so as to achieve joint deformation of the hollow elastic body and the metal probe. The three-dimensional force sensor and the bottom end of the clamping forceps part can be integrated to reflect the three-dimensional force change when a surgical needle is held by the clamping forceps part, and compared with the mode that the three-dimensional force sensor is directly integrated at the tip of the clamping forceps part to sense the three-dimensional force, the operation is not limited by the size of the tip of the clamping forceps part, the sensing is more integral, and the intersection of the needle holding force and the operation sensing force is avoided.

Description

technical field [0001] The invention relates to the technical field of medical equipment for minimally invasive surgery, in particular to a needle-holding forceps for minimally invasive surgery with a force-sensing function. Background technique [0002] Minimally invasive surgery (Mi n ima l ly I nvas ive Surgery, MIS) is widely used in the medical field because of its small trauma, light pain and quick recovery. With the rapid development of robot technology, robot-assisted minimally invasive surgery has become a significant development trend. The successful clinical application of minimally invasive surgical robot systems represented by the DaVinic (Da Vinci) system has attracted medical circles at home and abroad, great attention from the tech world. However, there are many deficiencies in minimally invasive surgical robots, the biggest of which is the lack of force perception and feedback functions. [0003] Human organs and tissues are very fragile, and the requireme...

AI Technical Summary

Problems solved by technology

However, there are many deficiencies in minimally invasive surgical robots, the biggest of which is the lack of force perception and feedback functions

[0003] Human organs and tissues are very fragile, and the requirements for the execution of minimally invasive surgical robots are high. Especially when suturing tissues, the lack of force-sensing feedback information is easy to tear the tissues, and the tightness of the knots cannot be sensed, resulting in wasted efforts and even tissue damage. Secondary injury, high surgical risk

However, due to the limited operating space of minimally invasive surgical instruments, adding force sensors is a particularly challenging task.

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