CN110368098A - A kind of puncture force detection sensor - Google Patents
A kind of puncture force detection sensor Download PDFInfo
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- CN110368098A CN110368098A CN201910750261.8A CN201910750261A CN110368098A CN 110368098 A CN110368098 A CN 110368098A CN 201910750261 A CN201910750261 A CN 201910750261A CN 110368098 A CN110368098 A CN 110368098A
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- outer ring
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
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- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The present invention relates to a kind of puncture force detection sensors, including the outer ring support (2) being connected with pedestal (1), X is equipped between the lower rotary table (11) being equipped in outer ring support and upper rotary table (6) to detection beam (7) and Y-direction detection beam (8), pricker (4) passes through；Lower rotary table cylindrical surface is equipped with two pairs of orthogonal MZ moment inspecting beams (9) and connected Z-direction detection beam (10) and connect with outer ring support inner wall；Block foil gauge (17) are posted on all detection beams.The present invention has the advantages that in puncturing operation operating process, identify needle force size in real time, realize real-time dynamic inserting needle strategy, and intern can be allowed to know the different puncture forces needed across different cortexes, formed more visual amount allelopathic by.It can analyze the loading process of the needle of puncture needle, total resultant force can be divided into X-direction, Y-direction, Z-direction, the power of MZ torque four direction, and the dimension of sensor is the four-dimension, is conducive to the decoupling of later period sensor, improves the precision of measurement.
Description
Technical field
The invention patent relates to medical instrument detection technique field more particularly to a kind of puncture needle puncture force detection sensings
Device.
Technical background
In micro-wound surgical operation, the operation of attending physician's inserting needle relies on personal experience completely, it is difficult to pass through language and demonstration
Etc. forms impart to intern.By the operating force of technical method real-time detection inserting needle process, completely record and intuitively
It shows inserting needle operating force, there is significant application value and academic significance for minimally invasive surgery clinical practice.Robot assisted needle is worn
Thorn system is conducive to doctor's inserting needle process stability, mitigates doctor's labor intensity, reduces wound section, and it is extensive to accelerate patients surgery
It is multiple.Since the mechanical property of different tissues layer rank is different, different inserting needle characteristics are shown, in order to reach better inserting needle effect,
Different layers rank should use different force value, realize real-time dynamic inserting needle strategy, need to identify needle force size in real time.
China Patent No. is that the patent of invention of CN109431473 A includes: based on the venipuncture system of pressure field detecting
It is fixed on the indoor multiple infrared cameras for the treatment of；Detection device, with the test surface that shape can be changed, matrix arrangement on test surface
Perpendicular to the three-dimensional pressure sensor of test surface；Pressurizing device, for puncturing vein proximal part certain position to local skin
Apply pressure；Master control set；Sting device master control set is according to point of puncture, puncture angle and puncture path control sting device behaviour
Make puncture needle and successively punctures skin, subcutaneous tissue, vein.It realizes the automatic operation positioned to vein, but cannot sufficiently realize
Puncture force size is more accurately measured, the sensor dimension of measuring force is also not enough.China Patent No. is
Six-dimensional force/torque sensor of the patent of invention of CN109431473 A for the mechanical hand of manipulation of acupuncture quantization, includes actively
Platform, flexible cross axle are cut with scissors, eight universal hinges, needle, P hinge stents, needle stand from moving platform, bearing assembly, four flexibility P, are formed
The flexible parallel mechanism that acupuncture needle institute stress/torque is detected.Preferable mentioning, inserting, twisting, turning, shaking power for Chinese medicine
It extracts, but mechanism does not minimize, integration cannot take action together with operator, and cannot sufficiently connect with robot makes
With, it is integrated obvious using having the shortcomings that in automation, while six-dimensional force is used in the dimension of sensor, six-dimensional force decoupling
Trouble, decoupling precision be very easy to it is impacted, influence measurement precision.
Summary of the invention
The object of the invention is to can not accurately obtain the mechanics of puncture process to solve puncture needle in the prior art
The shortcomings that parameter, a kind of puncture force detection sensor provided.
To achieve the goals above, the present invention provides the following technical scheme that
A kind of puncture force detection sensor, characterized by comprising:
A. pedestal, base center are equipped with the operation screw hole passed through for puncture needle, are equipped with one group in pedestal and connect cooperation with robot
Fixation hole；
B. the outer ring support connecting with pedestal coaxial line, outer ring support lumen centers are equipped with lower rotary table, and lower rotary table end face is equipped with two pairs
Orthogonal X detects beam to detection beam and Y-direction, and the beam face and outer ring support of X to detection beam and Y-direction detection beam are axially parallel, and X is to detection
The upper surface of beam and Y-direction detection beam is equipped with upper rotary table, and lower rotary table and upper rotary table center are equipped with outer ring support coaxial line for puncturing
The operation screw hole that needle passes through；
Lower rotary table cylindrical surface is equipped with two pairs of orthogonal MZ moment inspecting beams, the beam face of MZ moment inspecting beam and outer ring support axis side
To parallel, the other end of each MZ moment inspecting beam is separately connected a Z-direction detection beam, Z-direction detect beam beam face and outer ring support
Axis is vertical, and each Z-direction detection beam other end is connect with outer ring support inner wall respectively；
C. protection cap, capping connect cooperation with outer ring support upper surface, and protection cap center is additionally provided with protection cylinder, and puncture needle is from each behaviour
After being connected and fixed as screw hole, upper part in protection cylinder from passing through and leak out outside protection cylinder end face；
D. the X detects beam to detection beam, Y-direction detection beam, MZ moment inspecting beam and Z-direction, divides on two beam faces of each beam
It is not pasted with 2-3 block foil gauge.
On the basis of above-mentioned wig, there is technical solution further below:
The beam face of each MZ moment inspecting beam respectively with corresponding X to detection beam beam face in angle of 45 degrees.
The beam face of MZ moment inspecting beam and the beam face of Z-direction detection beam are mutually perpendicular to.
Outer ring support cylindrical surface is equipped with the wire guide that foil gauge is electrically connected line.
The operation screw hole is screw hole, and puncture needle is connect by itself screw thread with operation screw hole.
Protection cylinder and puncture needle clearance fit on protection cap is logical.
The bottom surface of pedestal is equipped with erecting bed, connect cooperation to connect robot link installation positioning surface and grabbing with robot
In above-mentioned technical proposal of the present invention, X is used to detect X-direction stress to detection beam, positive to detection beam sensitizing range in X
Foil gauge is sticked with the back side, the variation of power when for detecting X-direction stress.
The Y-direction detects beam and X to detection beam into 90 degree of angles.Y-direction detection beam is examined for detecting Y-direction stress in Y-direction
It surveys beam sensitizing range front and back and sticks foil gauge, the variation of power when for detecting Y-direction stress.
To beam is detected in angle of 45 degrees, Z-direction detection beam is examined for detecting Z-direction stress in Z-direction by the Z-direction detection beam and X
It surveys beam sensitizing range front and back and sticks foil gauge, the variation of power when for detecting Z-direction stress.
The MZ moment inspecting beam and X to detection beam in angle of 45 degrees.MZ moment inspecting beam is used to detect MZ torque stress,
MZ moment inspecting beam sensitizing range front and back sticks foil gauge, the variation of power when for detecting the direction MZ stress.
The wire guide of the outer ring support is the hole that foil gauge is connect for electricity output and output signal connecting line with outside line.
Pricker, which is connected through a screw thread, is connected directly between sensor rotary table up and down, makes puncture needle and sensor measurement beam one
Change, guarantees that the active force that needle is subject to can be for delivery on effect beam.
The protection cap is connect by four attachment screws with sensor outer ring, and seal sensor top is used for, intermediate
There are gap guarantors for hole and Paracentesis needle holder, and X-direction detection beam, Y-direction detection beam, Z-direction is protected to detect beam, sensor MZ moment inspecting
Beam avoids external force destruction, electromagnetic interference, the measurement accuracy of dust and influence of moisture stress section, guarantees that the active force of needle will not pass
It is delivered in protection cap, influences measurement accuracy.
It is an advantage of the current invention that meet the surgical procedure for not influencing to puncture this process, identification puncture force snesor with
Needle integrated design is operated, is met to realize real-time dynamic inserting needle strategy, is identified needle force size in real time, meet and carried out in doctor
When puncturing operation, intern is allowed to be known that the different puncture forces needed across different cortexes, forms more intuitive quantization
Impression.The loading process of the needle of puncture needle is analyzed, total resultant force can be divided into four X-direction, Y-direction, Z-direction, MZ torque sides
To power, the dimension of sensor is the four-dimension, is conducive to the decoupling of later period sensor, improves the precision of measurement.
Detailed description of the invention
Fig. 1 punctures force detection sensor isometric front view；
Fig. 2 is the reverse side perspective view of Fig. 1；
Fig. 3 is that Fig. 1 removes the puncture force detection sensor internal structure chart shown after protection cap；
Fig. 4 is the isometric front view of puncture force sensor body shown by outer ring support (2)；
Fig. 5 is the reverse side perspective view of Fig. 4；
Fig. 6 is the perspective view of pedestal 1 in Fig. 1；
Fig. 7 is the perspective view of puncture needle in Fig. 1.
Specific embodiment
A kind of puncture force detection sensor provided by the invention, including consisting of part:
A. shown in cylindrical pedestal 1, as shown in Figure 1, Figure 2, Fig. 3 and Fig. 6, the bottom center of pedestal is equipped with the behaviour passed through for puncture needle
Make screw hole 15, the bottom center of pedestal is symmetrically arranged with one group four fixation holes 14 that cooperation is connect with robot；
B. the outer ring support 2 connecting with 1 coaxial line of pedestal, outer ring support are connected by screw on pedestal；Such as Fig. 1, Fig. 3, Fig. 4 and figure
Shown in 5, outer ring support lumen centers are equipped with lower rotary table 11, and lower rotary table end face is equipped with two couples of orthogonal X to detection beam 7 and Y-direction inspection
Beam 8 is surveyed, each pair of X detects 8 or less rotary table center symmetric setting of beam to detection 7 or less rotary table center symmetric setting of beam, Y-direction, and X is to inspection
It is axial parallel along outer ring support 2 with the beam face of Y-direction detection beam 8 to survey beam 7, all X are set to the upper surface of detection beam 7 and Y-direction detection beam 8
There is upper rotary table 6, lower rotary table and upper rotary table center are designed with and the operation spiral shell for passing through for puncture needle and connecting of outer 2 coaxial line of ring support
Hole 15；
Outer 13 cylindrical surface of ring support is equipped with the wire guide 5 that foil gauge is electrically connected line, and X is to detection beam 7 and wire guide in same side
To, X to detection 7 beam face sensitizing range front and back of beam stick foil gauge, the variation of power when for detecting X-direction stress.
Y-direction detects beam 8 and 7 angle detecting beam of sensors X at 90 degree of angles, in Y-direction detection 8 beam face sensitizing range of beam front
Foil gauge is sticked with the back side, the variation of power when for detecting Y-direction stress.
Lower 11 cylindrical surface of rotary table is equipped with two pairs of orthogonal MZ moment inspecting beams 9, and each pair of MZ moment inspecting beam is respectively with circle
11 center of platform is radially symmetrical arranged；The beam face of MZ moment inspecting beam 9 is parallel with outer 2 axis direction of ring support, each MZ torque inspection
The other end for surveying beam 9 is separately connected a transition bench 9a, and the other end of each transition bench 9a is separately connected a Z-direction detection beam
10, the beam face that Z-direction detects beam 10 is vertical with outer 2 axis of ring support, i.e. MZ moment inspecting beam 9 and the beam face of Z-direction detection beam 10 is mutual
Vertically, and each Z-direction detection beam other end is connect with outer 2 inner wall of ring support respectively；
In conjunction with shown in Fig. 3, Fig. 4 and Fig. 5, the beam face of each MZ moment inspecting beam 9 respectively with corresponding X to detection beam 7 beam face
In angle of 45 degrees.
Z-direction detects beam 10 and X to beam 7 is detected in angle of 45 degrees, detects 10 beam face sensitizing range front and back of beam in Z-direction
Foil gauge is sticked, the variation of power when for detecting Z-direction stress.
Beam is detected in angle of 45 degrees in sensor MZ moment inspecting beam 9 and sensors X direction 7, hangs down with Z-direction detection 10 phase of beam
Directly, 9 beam face sensitizing range front and back of sensor MZ moment inspecting beam sticks foil gauge, when for detecting the direction MZ stress
The variation of power.
C. protection cap 3, capping connect cooperation, 3 center of protection cap with the screw hole 13 of outer 2 upper surface of ring support by screw 3b
It is additionally provided with protection cylinder 3a；As shown in fig. 7,4 cylinder of puncture needle is equipped with screw thread, puncture needle 4 is connected and fixed with each operation screw hole 15
Afterwards, upper part and protection cylinder clearance fit through and out protection cylinder end face outside；Puncture needle, which is connected through a screw thread, to be connected directly between
In the screw hole of upper rotary table 6 and lower rotary table 11, keep puncture needle integrated with sensor measurement beam, guarantees the active force that puncture needle is subject to
It can be for delivery on effect beam.
Protection cap logical 3 is crossed four attachment screws and is connect with the outer ring support of sensor, and seal sensor top, intermediate hole are used for
There are gap guarantors with Paracentesis needle holder.X detects beam 10, sensor MZ moment inspecting beam 9 to detection beam 7, Y-direction detection beam 8, Z-direction, keeps away
Exempt from external force destruction, electromagnetic interference, the measurement accuracy of dust and influence of moisture stress section, guarantees that the active force of needle is not transferred to guarantor
On protecting cover, measurement accuracy is influenced.
D. the X detects beam 10 to detection beam 7, Y-direction detection beam 8, MZ moment inspecting beam 9 and Z-direction, and the two of each beam
2-3 block foil gauge 17 is pasted on a beam face respectively.
E. as shown in Fig. 2, Fig. 3, Fig. 5 and Fig. 6, the pedestal 1 is connected to outer 2 bottom surface of ring support by four screw 16a
In connecting hole 2a；1 front groove 1a of pedestal is the positioning surface of outer ring support 2；1 back side groove 16 of pedestal is that the installation of connection robot is fixed
Plane is grabbed with robot and is connect；Through-hole is that implant needle is allowed to enter in puncture needle.
Puncture force detection sensor provided by the invention, specific measurement method are as follows:
One, puncture needle contacts to obtain cortex, in the drag effect to puncture needle of cortex；
Two, puncture needle and upper lower convex platform are connected through a screw thread, and become an entirety, and power is applied in sensor body；
Three, deformation occurs for sensor body, and strain sheet resistance changes；
Four, the variation of resistance is converted to the variation of voltage value；
Five, voltage value variation is converted to the power of effect again；Measure power variation.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (7)
1. a kind of puncture force detection sensor, characterized by comprising:
A. pedestal (1), base center are equipped with the operation screw hole (15) passed through for puncture needle, and one group is equipped in pedestal and is connected with robot
Connect the fixation hole 14 of cooperation；
B. the outer ring support (2) connecting with pedestal (1) coaxial line, outer ring support lumen centers are equipped with lower rotary table (11), lower rotary table end face
Two couples of orthogonal X are equipped with to detection beam (7) and Y-direction detection beam (8), X to detection beam (7) and Y-direction detect beam (8) beam face and
Outer ring support (2) axis is parallel, X to the upper surface of detection beam (7) and Y-direction detection beam (8) equipped with upper rotary table (6), lower rotary table and upper
Rotary table center is equipped with the operation screw hole (15) passed through for puncture needle with outer ring support (2) coaxial line；
Lower rotary table (11) cylindrical surface is equipped with two pairs of orthogonal MZ moment inspecting beams (9), the beam face of MZ moment inspecting beam (9) and outer
Ring support (2) axis is parallel, and the other end of each MZ moment inspecting beam (9) is separately connected Z-direction detection beam (10), Z-direction detection
The beam face of beam (10) is vertical with outer ring support (2) axis, and each Z-direction detection beam other end connects with outer ring support (2) inner wall respectively
It connects；
C. protection cap (3), capping connect cooperation with outer ring support (2) upper surface, and protection cap (3) center is additionally provided with protection cylinder
(3a), puncture needle (4) is from each operation screw hole (15) after being connected and fixed, and upper part is from protection cylinder through and out protection cylinder
Outside end face；
D. the X is to detection beam (7), Y-direction detection beam (8), MZ moment inspecting beam (9) and Z-direction detection beam (10), each
It is pasted with 2-3 block foil gauge (17) respectively on two beam faces of beam.
2. puncture force detection sensor according to claim 1, it is characterised in that: the beam of each MZ moment inspecting beam (9)
Face respectively with corresponding X to detection beam (7) beam face in angle of 45 degrees.
3. a kind of puncture force detection sensor according to claim 2, it is characterised in that: the beam of MZ moment inspecting beam (9)
Face and the beam face of Z-direction detection beam (10) are mutually perpendicular to.
4. a kind of puncture force detection sensor according to claim 1,2 or 3, it is characterised in that: outer ring support (13) cylinder
Face is equipped with the wire guide (5) that foil gauge is electrically connected line.
5. a kind of puncture force detection sensor according to claim 1, it is characterised in that: the operation screw hole (15) is spiral shell
Hole, puncture needle (4) are connected and fixed by itself screw thread and operation screw hole (15).
6. a kind of puncture force detection sensor according to claim 5, it is characterised in that: protection cap leads to the protection on (3)
Cylinder (3a) and puncture needle (4) upper gap cooperate.
7. a kind of puncture force detection sensor according to claim 1, it is characterised in that: the bottom surface of pedestal (1) is equipped with peace
It fills platform (16), connect cooperation to connect robot link installation positioning surface and grabbing with robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910750261.8A CN110368098B (en) | 2019-08-14 | 2019-08-14 | Puncture force detection sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910750261.8A CN110368098B (en) | 2019-08-14 | 2019-08-14 | Puncture force detection sensor |
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| Publication Number | Publication Date |
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| CN110368098A true CN110368098A (en) | 2019-10-25 |
| CN110368098B CN110368098B (en) | 2021-09-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910750261.8A Active CN110368098B (en) | 2019-08-14 | 2019-08-14 | Puncture force detection sensor |
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| CN102716026A (en) * | 2012-06-01 | 2012-10-10 | 西北工业大学 | Acupuncture needle capable of measuring six-component micro-force of traditional Chinese medicine acupuncture manipulation |
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2019
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| EP0168998A2 (en) * | 1984-07-09 | 1986-01-22 | Eaton Corporation | Multi-axis load transducer |
| US20110311939A1 (en) * | 2009-12-15 | 2011-12-22 | Massachusetts Institute Of Technology | Plaque Removal and Differentiation of Tooth and Gum |
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