Endoscopic surgery mechanical test system based on film pressure measurement

Abstract

The utility model discloses an endoscopic surgery mechanical test system based on film pressure measurement. The endoscopic surgery mechanical test system comprises a surgery simulation module, a resectoscope, a first group of film pressure sensors, a second group of film pressure sensors, an end effector, a surgical robot slave end trolley, a surgical robot master end trolley, an operating handle and a single chip microcomputer intelligent control panel. According to the utility model, the thin film pressure sensor is adopted, and the pressure on a human body is measured in a mode of directly measuring the magnitude of force. The thin-film pressure sensor is small in size, and the thin-film pressure sensor is arranged near a stress point, namely, the thin-film pressure sensor is arranged at the sphincter in an operation model. The measurement data result of the transurethral pressure detection can also provide data support for the surgical force feedback design of the surgical robot, so that the safety of the surgical robot in the surgical process is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of medical devices, and specifically relates to an endoscopic surgery mechanics testing system based on film pressure measurement. Background Art

[0002] During transurethral resectoscope surgery, a resectoscope is inserted through the urethra to perform the procedure. During the procedure, the resectoscope must pass through the prostatic, membranous, and corpus cavernosum portions of the urethra. Surrounding the membranous portion of the urethra is an external sphincter muscle that contracts to close the urethra and prevent urine leakage. Impaired sphincter function can cause urinary incontinence.

[0003] During the operation, the doctor needs to control the force. The sphincter will be passed during the operation. If the force is too great, the external sphincter may be under too much pressure and collapse, causing irreversible damage to the external sphincter and leading to urinary incontinence. Utility Model Content

[0004] To thoroughly determine the magnitude of force generated during surgery, this utility model utilizes a thin-film pressure sensor to directly measure the force exerted on the human body. The thin-film pressure sensor is compact and is positioned near the point of force application, specifically the sphincter muscle within the surgical model. The transurethral pressure measurement data can also provide data support for the design of force feedback for surgical robots, thereby improving safety during robotic surgeries.

[0005] The utility model provides an endoscopic surgery mechanical testing system based on film pressure measurement, which directly simulates the mechanical characteristics near the sphincter by making a human organ simulation model, thereby verifying the accuracy of force sensing.

[0006] This utility model provides an endoscopic surgical mechanics testing system based on thin film pressure measurement. By placing a thin film pressure sensor near the stress point, specifically the sphincter muscle in a surgical model, the system can directly read the pressure at the sphincter muscle. This allows the operator to understand the stress conditions at the sphincter muscle in real time during surgery, thus avoiding damage to the sphincter.

[0007] The utility model provides an endoscopic surgical mechanics testing system based on film pressure measurement, which can be used for surgical mechanics simulation testing of surgical robots and can also be used for surgical mechanics feedback in the surgical simulation learning process of doctors.

[0008] The utility model provides an endoscopic surgical mechanics testing system based on thin film pressure measurement, which includes a surgical simulation module, an electric resectoscope, a first group of thin film pressure sensors, a second group of thin film pressure sensors, an end effector, a surgical robot slave end trolley, a surgical robot master end trolley, an operating handle and a single-chip microcomputer intelligent control board.

[0009] According to one embodiment of the present invention, for example, the first group of thin film pressure sensors and the second group of thin film pressure sensors each include four thin film pressure sensors arranged at 90° to each other, and the two groups of thin film pressure sensors at the same position are also arranged vertically at 90° and pasted on the side wall of the pressure plate to sense the forces acting in four directions of up, down, left and right; the two thin film pressure sensors arranged vertically at the same position are used to detect the force values of the positive pressure and lateral pressure exerted on the sphincter model.

[0010] According to one embodiment of the present invention, for example, the surgical simulation module has a hollow cavity with a funnel-shaped cross section, and a simulation model and a pressure plate are installed at the smaller end thereof.

[0011] According to one embodiment of the present invention, for example, a groove is designed on the inner side of the pressure plate, and a first group of thin film pressure sensors are installed on the side wall of the groove to detect the lateral pressure exerted on the sphincter model; a second group of thin film pressure sensors is installed on the bottom surface of the groove to detect the positive pressure exerted on the sphincter model.

[0012] According to one embodiment of the present invention, for example, the first group of thin film pressure sensors is respectively arranged with a sensor in the upper, lower, left and right directions of the groove side wall; the second group of thin film pressure sensors is also respectively arranged with a sensor in the upper, lower, left and right directions of the groove bottom surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic structural diagram of an endoscopic surgery mechanics testing system based on film pressure measurement provided by an embodiment of the present utility model.

[0014] Figure 2 It is a structural diagram of a surgical simulation module in a surgical mechanics testing system provided by an embodiment of the present utility model.

[0015] Figure 3 This is a schematic diagram of the arrangement of the thin film pressure sensor provided by an embodiment of the present utility model.

[0016] Figure 4 This is a schematic diagram of the pressure plate structure in the surgical mechanics testing system provided by an embodiment of the present utility model.

[0017] Figure 5 It is a structural diagram of a surgical simulation module in a surgical mechanics testing system provided by an embodiment of the present utility model. DETAILED DESCRIPTION

[0018] like Figure 1 The embodiment of the utility model shown provides an endoscopic surgical mechanics testing system based on thin film pressure measurement. The endoscopic surgical mechanics testing system based on thin film pressure measurement includes a surgical simulation module 01, a resectoscope 02, a first group of thin film pressure sensors 03, a second group of thin film pressure sensors 04, an end effector 05, a surgical robot slave-end trolley 06, a surgical robot master-end trolley 07, an operating handle 08, and a single-chip intelligent control board 09. Each group of thin film pressure sensors consists of four thin film pressure sensors arranged at 90 degrees to each other. The two groups of thin film pressure sensors in the same position are also arranged vertically at 90 degrees and affixed to the side wall of the pressure plate 0102 to sense the forces acting in the four directions of up, down, left, and right. The two thin film pressure sensors arranged vertically in the same position are used to detect the force values of the positive pressure and lateral pressure acting on the sphincter model. The examiner controls the movement of the robotic arm through the operating handle 08, thereby driving the movement of the resectoscope 02. The resectoscope 02 moves in the surgical simulation module 01 and moves to the extreme position. The first group of film pressure sensors 03 detects the lateral force on the sphincter model, and the second group of film pressure sensors 04 detects the forward force on the sphincter model and transmits the detected data to the computer through the single-chip microcomputer intelligent control board 09. The computer reads and stores the force acting on the resectoscope 02.

[0019] like Figure 2 As shown, the surgical simulation module 01 has a hollow cavity with a funnel-shaped cross section, and a simulation model 0101 and a pressure plate 0102 are installed on the smaller end. Figure 4 As shown, a groove is designed inside the pressure plate 0102. A first set of thin-film pressure sensors 03 are mounted on the sidewall 010201 of the groove to detect the lateral pressure acting on the sphincter model. A second set of thin-film pressure sensors 04 are mounted on the bottom surface 010202 of the groove to detect the normal pressure acting on the sphincter model. The first set of thin-film pressure sensors 03 is located on the groove sidewall, with one sensor each located in the top, bottom, left, and right directions. The second set of thin-film pressure sensors 04 is also located on the bottom surface, with one sensor each located in the top, bottom, left, and right directions.

[0020] The mechanical testing system provided by the embodiment of the present invention simulates the human body through a model. Figure 5As shown, surgical simulation module 01 includes simulation model 0101, pressure plate 0102, simulation model 0103, and holding box 0104. Pressure plate 0102 and holding box 0104 are primarily constructed of plastic materials. Simulation model 0101 is made of human silicone, whose hardness and elasticity are similar to those of surrounding tissues during surgery, enabling simulation of the stress and deformation of surrounding tissues during surgery. Simulation model 0103 is constructed by sewing a pig heart and stomach. The pig heart simulates prostate tissue, and the pig stomach simulates bladder tissue. The muscle tissue of the pig heart has similar properties to that of the prostate. During surgical simulation, the contact between the pig heart and the sidewall of holding box 0104 effectively simulates the stresses experienced by the prostate during surgery. The thin-film pressure sensor is normally in a high-resistance state (approximately open circuit). When the external pressure on the sensor surface reaches a certain threshold, it turns on, generating a resistance value R. As the external pressure increases, this resistance value R decreases according to a characteristic curve. After the external pressure is removed, the sensor immediately returns to its normal state (high resistance). As the resectoscope applies increasing pressure to simulation model 0101, the pressure applied to the thin film pressure sensor increases, causing the resistance value of the thin film pressure sensor to change. Before use, the thin film pressure sensor is calibrated to determine the relationship between pressure and resistance. This determines the pressure represented by the corresponding resistance value. The value returned by the sensor can then be used to indicate the pressure.

Claims

1. An endoscopic surgery mechanical testing system based on thin film pressure measurement, characterized in that: The endoscopic surgical mechanics testing system based on thin film pressure measurement comprises a surgical simulation module (01), an electric resectoscope (02), a first group of thin film pressure sensors (03), a second group of thin film pressure sensors (04), an end effector (05), a surgical robot slave end trolley (06), a surgical robot master end trolley (07), an operating handle (08), and a single-chip intelligent control board (09).

2. The endoscopic surgery mechanical testing system based on film pressure measurement according to claim 1, characterized in that: The first group of thin film pressure sensors (03) and the second group of thin film pressure sensors (04) each include four thin film pressure sensors arranged at 90 degrees to each other. The two groups of thin film pressure sensors at the same position are also arranged vertically at 90 degrees and attached to the side wall of the pressure plate (0102) to sense the forces acting in the four directions of up, down, left and right. The two thin film pressure sensors arranged vertically at the same position are used to detect the force values of the positive pressure and lateral pressure acting on the sphincter model.

3. The endoscopic surgery mechanical testing system based on film pressure measurement according to claim 1 or 2, characterized in that: The surgical simulation module (01) has a hollow cavity and a funnel-shaped cross section, with a simulation model (0101) and a pressure plate (0102) installed at the smaller end.

4. The endoscopic surgery mechanical testing system based on film pressure measurement according to claim 3, characterized in that: A groove is designed on the inner side of the pressure plate (0102), and a first group of thin film pressure sensors (03) are installed on the side wall (010201) of the groove for detecting the lateral pressure exerted on the sphincter model; a second group of thin film pressure sensors (04) are installed on the bottom surface (010202) of the groove for detecting the positive pressure exerted on the sphincter model.

5. The endoscopic surgery mechanical testing system based on film pressure measurement according to claim 4, characterized in that: The first group of thin film pressure sensors (03) is provided with one sensor each in the upper, lower, left and right directions of the groove sidewall; the second group of thin film pressure sensors (04) is also provided with one sensor each in the upper, lower, left and right directions of the groove bottom surface.

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