Decoupling mechanism for static calibration and interaction force of clamping force of surgical instrument

Abstract

The utility model discloses a surgical instrument clamping force static calibration and interaction force decoupling mechanism, and belongs to the field of medical instruments. Comprising a single-dimensional clamping force sensor, a clamping force static calibration platform, static calibration and an interactive force decoupling mechanism, the single-dimensional clamping force sensor comprises a clamping force sensor elastic body, a connecting shaft and a decoupling wire wheel set, and the single-dimensional clamping force sensor can indirectly measure the steel wire tension of a driving clamp. The clamping force static calibration platform comprises a clamp combination, a supporting unit and a bottom platform, the clamping force and the tensioning force of a steel wire during movement of a clamp can be accurately measured through the static calibration mechanism, and the interaction force decoupling mechanism comprises mechanical decoupling and signal compensation result output. According to the mechanical decoupling, coupling of clamping force and interaction force can be relieved through the decoupling line wheel set, and after output signal compensation is completed through the six-dimensional force / torque sensor, the interaction force generated when a surgical instrument makes contact with tissue of a patient is accurately detected.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of calibration and decoupling mechanism, specifically to a kind of surgical instrument clamping force static calibration and interaction force decoupling mechanism, belong to medical instrument field. BACKGROUND

[0002] Compared with ordinary endoscopic surgery, robot-assisted endoscopic surgery is more flexible, has the advantages of relieving physician fatigue, eliminating physician hand tremor and remote surgery, and the force feedback function of the surgical robot system is gradually improved, but the measurement accuracy of clamping force in surgical instruments is not fully considered, and the coupling problem of clamping force and interaction force is not considered when measuring clamping force.In addition, the tension of the steel wire itself when driving the clamp to move will affect the detection of the interaction force.In order to solve these problems and ensure that the signal of the force sensor on the surgical instrument can be accurately transmitted, a surgical instrument clamping force static calibration and interaction force decoupling mechanism is designed. SUMMARY

[0003] In view of the above shortcomings, the utility model provides a kind of surgical instrument clamping force static calibration and interaction force decoupling mechanism.

[0004] The utility model is realized through the following technical schemes: a kind of surgical instrument clamping force static calibration and interaction force decoupling mechanism, characterized by including single-dimensional clamping force sensor, clamping force static calibration platform, static calibration, interaction force decoupling mechanism, the single-dimensional clamping force sensor is installed on the clamping force static calibration platform during experiment.

[0005] The single-dimensional clamping force sensor includes clamping force sensor elastomer, connecting shaft and decoupling wire wheel set, the decoupling wire wheel set includes left guide wheel and right guide wheel, the single-dimensional clamping force sensor is installed inside the six-dimensional force / torque sensor, the clamping force sensor elastomer is provided with connecting shaft mounting hole and steel wire via hole, the decoupling wire wheel set inner hole is installed on the connecting shaft outer ring, the connecting shaft outer ring is installed in the connecting shaft mounting hole of the clamping force sensor elastomer, the steel wire tension of the driving clamp is indirectly measured by the single-dimensional clamping force sensor, and the coupling of clamping force and interaction force is removed by the decoupling wire wheel set.

[0006] The main body structure of the clamping force sensor elastomer is a two-force bar, which can generate corresponding tensile and compressive strain when bearing load, and the FBG pasted at the center hole can detect the corresponding tensile and compressive strain.

[0007] The clamping force static calibration platform comprises a clamp combination, a support unit and a bottom platform, and the clamp combination and the support unit are both bolted on the bottom platform.

[0008] The static calibration steps are as follows:

[0009] A weight is used to apply a corresponding force / torque to the single-dimensional clamping force sensor, the wavelength variation of the FBG optical fiber is read by a fiber demodulator, the sampled wavelength variation is analyzed, a linear relationship diagram of the clamping force and the wavelength variation is drawn by data processing, and comparative analysis is performed, so that the feasibility of the decoupling mechanism and the accuracy of the clamping force sensor in detecting the interaction force are verified.

[0010] The interaction force decoupling mechanism comprises mechanical decoupling and output signal compensation results.

[0011] The clamp steel wires are divided into two strands to drive the opening and closing of the clamp, the steel wires intersect with two decoupling small wire wheels of the decoupling wire wheel set in the hollow of the Stewart platform, and the winding directions of the two steel wires in the decoupling wire wheel set are exactly opposite, so that S shapes in opposite directions are formed.

[0012] According to the static calibration result, the output compensation can be calculated, and the specific process is as follows:

[0013]

[0014]

[0015] The utility model discloses the beneficial effect is: through single -dimensional clamping force sensor indirectly measures the steel wire tension of driving clamp, through decoupling wire wheel set to remove the coupling of clamping force and interaction force.

[0016] Through the decoupling wire wheel set, two force components symmetrical to the instrument axis direction can be offset, the influence of the steel wire tension is basically eliminated, so that the coupling of the jaw clamping force and the interaction force is removed, and the force component when contacting the human tissue is effectively detected. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is whole three -dimensional structure schematic drawing for the utility model;

[0018] Figure 2 It is three -dimensional structure schematic drawing for single -dimensional clamping force sensor of the utility model;

[0019] Figure 3 It is three-dimensional structure schematic view and sectional view of the clamping force sensor elastic body of the utility model;

[0020] Figure 4 It is mechanical analysis schematic view of the interactive force decoupling mechanism of the utility model;

[0021] Figure 5 It is three-dimensional structure schematic view of the clamping force static calibration platform of the utility model;

[0022] Figure 6 It is three-dimensional structure schematic view of the support unit of the utility model;

[0023] Figure 7 It is optical fiber demodulation principle schematic view of the utility model;

[0024] In the figure: 1, single-dimensional clamping force sensor, 11, clamping force sensor elastic body, 12, connecting shaft, 13, decoupling line wheel group, 2, clamping force static calibration platform, 21, clamp combination, 22, support unit, 221, pulley support front end, 222, pulley support rear end, 23, bottom platform. DETAILED DESCRIPTION

[0025] The technical solutions of the utility model will be described clearly and completely below in combination with the drawings, obviously, the described embodiments are a part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without making creative labor belong to the protection scope of the utility model.

[0026] In the description of the utility model, it needs to be explained that the orientation or position relationship indicated by the terms "front", "back", "upper", "lower", "left", "right", "end", "inner" and the like is the orientation or position relationship based on the shown in the drawings, only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore, it cannot be understood as the limitation of the utility model.

[0027] In the description of the utility model, it needs to be explained that unless another explicit provision and limitation, the terms "mounting", "connecting", "connection" should be understood broadly, for example, can be fixed connection, also can be detachable connection, or integrally connected, can be mechanical connection, also can be electrical connection, can be directly connected, also can be indirectly connected through the intermediate medium, can be the intercommunication of two elements. For the person skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0028] DETAILED DESCRIPTION: As shown in Figures 1 to 7 The utility model discloses a surgical instrument clamping force static calibration and interaction force decoupling mechanism, it is characterized by including single -dimensional clamping force sensor 1, clamping force static calibration platform 2, static calibration, interaction force decoupling mechanism.

[0029] Single -dimensional clamping force sensor 1 includes clamping force sensor elastomer 11, connecting shaft 12, decoupling wire wheel group 13, and the decoupling wire wheel group 13 includes left guide wheel 131, right guide wheel 132, the clamping force sensor elastomer 11 is opened connecting shaft 12 mounting hole and steel wire through-hole, the decoupling wire wheel group 13 inner hole is installed in the outer ring of connecting shaft 12, and the outer ring of connecting shaft 12 is installed in the connecting shaft mounting hole of clamping force sensor elastomer 11.

[0030] The main body structure of clamping force sensor elastomer 11 is two-force rod, which can generate corresponding tensile and compressive strain when bearing load, and the FBG pasted at the center hole can detect the corresponding tensile and compressive strain.

[0031] Clamping force static calibration platform 2 includes clamp combination 21, support unit 22, bottom platform 23, and the clamp combination 21 and support unit 22 are both installed on the bottom platform 23 through bolts. The support unit 22 includes pulley support front end 221 and pulley support rear end 222, and the pulley support front end 221 and the pulley support rear end 222 are both installed on the bottom platform 23, the pulley support front end 221 is aligned with the front end of the bottom platform 23, and the pulley support front end 221 and the pulley support rear end 222 are on the same reference line, which guides the steel wire through such arrangement.

[0032] In use, the single-dimensional clamping force sensor indirectly measures the steel wire tension of the driving clamp. Since the winding directions of the two steel wires in the decoupling wire wheel group are exactly opposite, an S-shaped structure is formed in the opposite directions. This structure allows the two force components symmetrical to the instrument axis direction to be cancelled through the decoupling wire wheel group, thereby substantially eliminating the influence of the steel wire tension, decoupling the coupling of the jaw clamping force and the interaction force, and facilitating effective detection of the force component when contacting the human tissue.

Claims

1. A decoupling mechanism for static calibration of clamping force and interaction force of surgical instruments, comprising a one-dimensional clamping force sensor, a static calibration platform for clamping force, and an interaction force decoupling mechanism, characterized in that... The single-dimensional clamping force sensor includes a clamping force sensor elastomer, a connecting shaft, and a decoupling wheel assembly. The decoupling wheel assembly includes a left guide wheel and a right guide wheel. The clamping force sensor elastomer has a connecting shaft mounting hole and a wire through hole. The inner hole of the decoupling wheel assembly is installed on the outer ring of the connecting shaft, and the outer ring of the connecting shaft is installed in the connecting shaft mounting hole of the clamping force sensor elastomer. The decoupling wheel assembly is used to decouple the clamping force from the interaction force.

2. The decoupling mechanism for static calibration of surgical instrument clamping force and interaction force according to claim 1, characterized in that, The main structure of the clamping force sensor elastomer is a two-force bar, with an FBG attached to its central hole.

3. The decoupling mechanism for static calibration of surgical instrument clamping force and interaction force according to claim 1, characterized in that, The clamping force static calibration platform includes a clamp assembly, a support unit, and a bottom platform. The clamp assembly and the support unit are both mounted on the bottom platform by bolts.

4. The decoupling mechanism for static calibration of surgical instrument clamping force and interaction force according to claim 3, characterized in that, The support unit includes a front end and a rear end of a pulley support. Both the front end and the rear end of the pulley support are mounted on the bottom platform. The front end of the pulley support is aligned with the front end of the bottom platform, and the front end and the rear end of the pulley support are on the same baseline.

5. The decoupling mechanism for static calibration of surgical instrument clamping force and interaction force according to claim 1, characterized in that, The interaction force decoupling mechanism includes two clamping steel wires wound on the decoupling reel assembly. The two steel wires are wound in opposite directions in the decoupling reel assembly and form an S-shape.

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