Three-dimensional force measurement sensor for minimally invasive surgery

Abstract

The utility model discloses a three-dimensional force measurement sensor for minimally invasive surgery, which comprises a lower base, an upper base, a groove-type outer tube, a central optical fiber and a plurality of external optical fibers, the groove-type outer tube is positioned between the upper base and the lower base, a plurality of U-shaped grooves are arranged on the groove-type outer tube in a layered manner, the lower base is connected with the groove-type outer tube through a support member, and the central optical fiber is arranged in the U-shaped grooves. The special-shaped supporting piece is a supporting beam with the cross section of a cross-shaped structure, and the cross-shaped intersection part of the top and the bottom of the supporting beam is provided with an outward extending part. Wherein the peripheral extension parts of the supporting beam are provided with mounting grooves, and the middle part of the supporting beam is provided with a through hole I through which a central optical fiber passes. According to the utility model, the upper base, the lower base and the groove-type outer tube are connected by adopting the integrally formed special-shaped supporting piece, the contraction part 11 is designed in the groove-type outer tube, and external optical fibers are uniformly distributed on the periphery in a tight suspension manner, so that the measurement precision of transverse force is improved; and a plurality of U-shaped grooves are additionally arranged at the upper part of the groove type outer tube, so that the measurement precision of the axial force is improved.

Description

Technical Field

[0001] This utility model relates to the field of medical devices, specifically to a three-dimensional force sensor for minimally invasive surgery. Background Art

[0002] Minimally invasive surgery refers to modern surgical procedures that involve inserting surgical instruments through a tiny incision to remove pathological tissue. For example, minimally invasive vascular interventional surgery is a refined procedure that introduces precision instruments such as medical catheters and guidewires into the body's blood vessels for minimally invasive diagnosis and treatment of diseases. Compared to traditional open surgery, this surgical approach offers advantages such as high operational safety, minimal trauma, low postoperative reaction, and rapid recovery. However, in practice, minimally invasive surgery has some drawbacks that make it difficult to implement in clinical applications: for example, the slender instruments used in the surgery reduce the surgeon's ability to perceive contact forces, and the forces acting on the surgical instruments come from different directions during the procedure. Without accurately perceiving the contact force information from each direction during surgery, it is difficult to achieve precise operation of the surgical instruments.

[0003] In existing sensors, the external optical fiber is located inside the outer tube. When measuring lateral forces, the measurement accuracy is not very high. For example, CN201710484808.5 describes a three-dimensional force sensor for minimally invasive medical devices. In this device, the external optical fiber is located inside the outer tube; however, this approach sometimes affects the fiber's sensitivity to lateral forces and the measurement accuracy. Therefore, the measurement of lateral forces cannot be very precise. Utility Model Content

[0004] One object of this invention is to solve at least the aforementioned problems and / or defects, and to provide at least the advantages described below.

[0005] To achieve these objectives and other advantages according to the present invention, a three-dimensional force measurement sensor for minimally invasive surgery is provided, comprising a lower base, an upper base with a hemispherical structure, a grooved outer tube, a central optical fiber located at the center of the upper and lower bases, multiple external optical fibers located around the upper and lower bases, the grooved outer tube being located between the upper and lower bases, the grooved outer tube having multiple U-shaped grooves layered on it, the lower base and the grooved outer tube being connected by an integrally formed irregular support member, the irregular support member being a support beam with a cross-shaped cross section, the top and bottom cross sections of the support beam having outward extensions;

[0006] The support beam has mounting slots on all four sides for external optical fibers to pass through, and a through hole I in the middle for the central optical fiber to pass through.

[0007] Preferably, the support beam has an inwardly recessed contraction in the middle, and the outer surface of the contraction has an arc-shaped structure.

[0008] Preferably, the lower base is disc-shaped, and the lower base is provided with through holes II and multiple through holes III to connect the central optical fiber and the external optical fiber with the external optical path;

[0009] The through hole I and through hole II are spatially connected, and each through hole III is spatially connected to the corresponding mounting groove.

[0010] The present invention has at least the following beneficial effects: The present invention uses an integrally formed irregular support to connect the upper and lower bases and the grooved outer tube. A contraction part 11 is designed inside the grooved outer tube, and the external optical fiber is evenly distributed around the perimeter in a tightly suspended manner to improve the measurement accuracy of the lateral force. Multiple U-shaped grooves are added to the upper part of the grooved outer tube, which also improves the measurement accuracy of the axial force.

[0011] Other advantages, objectives and features of this invention will be partly apparent from the following description, and partly understood by those skilled in the art through study and practice of this invention. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0013] Figure 2 A schematic diagram of the structure of the central optical fiber and the slotted outer tube;

[0014] Figure 3 This is a schematic diagram of the bottom of the lower base.

[0015] The markings in the diagram are: 1. Lower base, 2. Upper base, 3. Groove outer tube, 4. Central optical fiber, 5. External optical fiber, 6. Support beam, 7. Extension, 8. Mounting groove, 9. Through hole I, 11. Contraction section, 12. Through hole II, 13. Through hole III. DETAILED DESCRIPTION

[0016] The present invention will now be described in further detail with reference to the accompanying drawings, so that those skilled in the art can implement it based on the description.

[0017] It should be understood that terms such as “having”, “including” and “comprising” used herein do not preclude the existence or addition of one or more other elements or combinations thereof.

[0018] It should be noted that in the description of this utility model, the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0019] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "installed", "equipped with", "sleeved / connected", "connected", etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0020] Furthermore, in this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Moreover, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0021] Figure 1 This invention illustrates a three-dimensional force measurement sensor for minimally invasive surgery, comprising a lower base 1, an upper base 2 with a hemispherical structure, a grooved outer tube 3, a central optical fiber 4 located at the center of the upper base 2 and the lower base 1, multiple external optical fibers 5 located around the upper base 2 and the lower base 1, the grooved outer tube 3 being located between the upper base 2 and the lower base 1, the grooved outer tube 3 having multiple U-shaped grooves layered on it, the lower base 1 and the grooved outer tube 3 being connected by an integrally formed irregular support member, the irregular support member being a support beam 6 with a cross-shaped cross section, the top and bottom cross sections of the support beam 6 having outward extensions 7;

[0022] The support beam 6 has mounting grooves 8 on all four sides of its extension 7 for each external optical fiber 5 to pass through, and a through hole Ⅰ9 for the central optical fiber 4 to pass through in the middle of the support beam 6.

[0023] Working principle:

[0024] The central optical fiber 4, used to measure the axial force Fz of the sensor, is positioned on the central axis between the upper 2 and the lower base 1. The external optical fibers 5, used to measure the radial forces Fx and Fy of the sensor, are parallel to the central optical fiber 4. Before assembly, the central optical fiber 4 needs to be pre-stretched to provide tensile and compressive force detection. When the sensor is subjected to axial force, the main elastic strain is achieved by the axial deformation of the four pairs of U-shaped grooves of the grooved outer tube 3. Since the external optical fibers 5 pass through multiple U-shaped grooves of the grooved outer tube 3, and the axial strain of the contraction part 11 is extremely small and negligible, the change in axial force can be calculated solely by the strain change of the central optical fiber 4. When the sensor is subjected to radial force, multiple external optical fibers 5 are installed in the mounting groove 8 of the extension part 7 of the support beam 6. The external optical fibers 5 and the irregular support members together form an elastic body to achieve radial deformation. At this time, the strain change of the four circumferential external optical fibers 5 is related to the radial force. When the sensor is subjected to both axial and radial forces, the central optical fiber 4 installed in the through hole I9 of the support beam 6 and the four external optical fibers 5 in the circumferential direction can simultaneously measure the corresponding strain changes. The three-dimensional force can be obtained by using the matrix describing the relationship between strain and force.

[0025] In the above solution, the support beam 6 has an inwardly recessed contraction portion 11 in the middle, and the outer surface of the contraction portion 11 has an arc-shaped structure. With this technical solution, the inwardly recessed contraction portion 11, due to its concave arc-shaped structure, has the lowest stiffness against lateral forces at the very center of the recess, thereby increasing the sensitivity for measuring lateral forces. Meanwhile, the support beam 6 increases the stability of the structure, effectively reducing stress concentration when the sensor is subjected to external impacts or vibrations, thus protecting the sensitive components from damage.

[0026] In the above scheme, the lower base 1 is disc-shaped, and the lower base 1 is provided with through holes II12 and multiple through holes III13 to connect the central optical fiber 4 and the external optical fiber 5 with the external optical path.

[0027] In this design, through-hole I 9 and through-hole II 12 are spatially connected, and each through-hole III 13 is spatially connected to its corresponding mounting slot 8. This technical solution provides stable support for the disc-shaped lower base 1 and makes the entire sensor more compact and regular in appearance. Furthermore, the disc shape facilitates the uniform distribution of optical fibers and other internal components, further enhancing the structural stability of the sensor. Through-hole II 12 connects the central optical fiber 4 to the external optical path, ensuring that the central optical fiber 4 can pass smoothly and connect to the external optical path, providing precise axial force feedback for surgery. Multiple through-holes III 13 are spatially connected to the mounting slots 8 on the support beam 6, allowing the external optical fibers 5 within the mounting slots 8 to connect to the external optical path through the through-holes III 13. Each through-hole III 13 corresponds to a specific mounting slot 8, ensuring that each external optical fiber 5 can be accurately connected to its predetermined position. This also ensures accurate measurement of lateral forces.

[0028] Although the embodiments of this utility model have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for this utility model. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, this utility model is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A three-dimensional force measurement sensor for minimally invasive surgery, comprising a lower base, an upper base with a semi-spherical structure, a grooved outer tube, a central optical fiber located at the center of the upper and lower bases, and a plurality of external optical fibers located around the upper and lower bases, wherein the grooved outer tube is located between the upper and lower bases, and a plurality of U-shaped grooves are layered on the grooved outer tube, characterized in that: The lower base and the grooved outer tube are connected by an integrally formed special-shaped support member, wherein the special-shaped support member is a support beam with a cross-shaped cross section, and the cross-intersecting parts at the top and bottom of the support beam have outward extensions; The extending parts around the support beam are all provided with installation grooves for the external optical fibers to pass through, and the middle part of the support beam is provided with a through hole I for the central optical fiber to pass through.

2. The three-dimensional force measurement sensor for minimally invasive surgery according to claim 1, characterized in that: The middle part of the support beam has a contraction portion which is concave inwards, and the outer surface of the contraction portion is an arc-shaped structure.

3. The three-dimensional force measurement sensor for minimally invasive surgery according to claim 1, characterized in that: The lower base is disc-shaped, and is provided with a through hole II and a plurality of through holes III for connecting the central optical fiber and the external optical fiber with the external optical path; Among them, the through hole I is connected with the through hole II in space, and each through hole III is connected with the corresponding installation groove in space.

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