Capacitance force feedback puncture needle and capacitance force feedback puncture equipment

Abstract

The invention discloses a capacitive force feedback puncture needle and capacitive force feedback puncture equipment, the capacitive force feedback puncture needle comprises a needle body, the interior of the needle body is hollow, and the inner side of the needle body is provided with a conductive part; the electrode core is sleeved in the needle body; the first insulating layer is arranged in the needle body and is positioned between the electrode core and the conductive part, so that the electrode core is insulated from the conductive part, and a capacitance gap is formed between the electrode core and the conductive part; the conductive part and the electrode core are both connected with an electrode wire extending out of the needle body, and are electrically connected with the capacitance detection module through the electrode wire, so that capacitance change generated by capacitance gap change due to compression deformation of the needle body can be transmitted to the capacitance detection module; and the capacitance detection module determines the output force corresponding to the current capacitance change according to the pre-calibrated relationship between the capacitance change and the force. The problem that in the related technology, when puncture operation is executed, a puncture needle cannot feed back force borne in the puncture process to the operation end is solved.

Description

technical field [0001] The present application relates to the technical field of medical equipment, and in particular, to a capacitive force feedback puncture needle and a capacitive force feedback puncture device. Background technique [0002] The puncture needle is a medical device for tissue sampling and injection treatment of kidney, liver, lung, breast, thyroid, prostate, pancreas, testis, uterus, ovary, body surface and other organs in minimally invasive surgery. At present, a robotic arm is often used for remote control in puncture therapy. The user controls a multi-degree-of-freedom manipulator at the operating end to control the synchronous action of the robotic arm, and drives the puncture needle located at the end effector of the robotic arm to perform the corresponding puncture. [0003] Due to the use of a robotic arm to perform the puncture operation, the user cannot directly feel the resistance and pressure on the puncture needle during the puncture process, w...

AI Technical Summary

Problems solved by technology

[0004] The main purpose of this application is to provide a capacitive force feedback puncture needle and a capacitive force feedback puncture device to solve the problem in the related art that the puncture needle cannot feed back the force received during the puncture to the operating end when performing the puncture operation

Images