CN102151179A - Three-dimensional force sensor for minimally invasive surgery robot - Google Patents
Three-dimensional force sensor for minimally invasive surgery robot Download PDFInfo
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- CN102151179A CN102151179A CN2011101230952A CN201110123095A CN102151179A CN 102151179 A CN102151179 A CN 102151179A CN 2011101230952 A CN2011101230952 A CN 2011101230952A CN 201110123095 A CN201110123095 A CN 201110123095A CN 102151179 A CN102151179 A CN 102151179A
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Abstract
The invention provides a three-dimensional force sensor for a minimally invasive surgery robot. The sensor is a sensor array consisting of eight strain gages; the sensor array is arranged at the periphery of a hollow metal round bar close to the tail end of a manipulator, and divided into two regions for measuring a radial force and an axial force of the round bar; four rectangular planes which are orthogonal to one another and used for installing strain gages are machined in the radial force measurement region; the opposite faces of the four strain gages form two half bridges; each half bridge outputs three signal wires; the signal wires enter the hollow metal round bar from a wire-leading hole, and are led out from the connecting end of the manipulator; two pairs of strain gages are arranged at opposite positions of the axial force measurement region; the four strain gages are symmetrically arranged so as to form a Poisson bridge; the Poisson bridge outputs four signal wires; and the signal wires enter the round bar from the wire-leading hole and are led out from the connecting end of the manipulator. A metal foil for electromagnetic shielding is covered at the peripheries of the strain gages. The three-dimensional force sensor for the minimally invasive surgery robot has a simple structure, high sensitivity and low cost, and is easy to machine.
Description
Technical field
The invention belongs to the minimally invasive surgical operation robot technical field, be specifically related to a kind of three-dimensional force sensor that is used for minimally invasive surgical operation robot.
Background technology
The power that provides by means of surgical operation robot system is felt telepresenc, the doctor is felt truly mechanical hand and patient's dynamic interaction help the doctor to finish the operation of complicated precision, and the disappearance of force information will cause the generation of malpractice.
Basic skills at realizable force feedback function on the minimally invasive surgical operation robot is: carrying out sensor installation collection multidimensional force signal on the operation technique mechanical hand, be sent to the controller of doctor's operator after the processing, control each spindle motor output corresponding torque, make the doctor can experience the force information that is constantly changing in the operation process truly.Force transducer is the important component part of force feedback system, and the force transducer that is used for minimally invasive surgical operation robot need possess following condition: 1. can satisfy the specific (special) requirements of medical environment: the working environment humidity, repeatedly disinfect etc.; 2. output signal can be truly, stable, reflect the force information of respective direction reliably; 3. the profile and the intensity of mechanical hand to be changed behind the sensor installation as small as possible, operation technique must not be hindered.Be subjected to the restriction of above-mentioned designing requirement, the mini type multiple dimension force transducer of being sold in the market all can not be used for the minimally invasive surgical operation robot system, therefore must be at the structural design of mechanical hand.
A kind of typical four-degree-of-freedom micro-wound surgical operation mechanical hand as shown in Figure 1, mechanical hand is installed in the mechanical arm end of operating robot by rapid replacing interface, mechanical hand has comprised three rotations and end-of-arm tooling folding totally four degree of freedom.The mechanical hand middle part is external diameter 10 mm, is about the hollow metal round bar of 500 mm, has the six roots of sensation to play the finer wire of gearing in the bar.Be installed on the mechanical arm of minimally invasive surgical operation robot when mechanical hand after, can also under the drive of mechanical arm, finish the translation of space three degree of freedom.
Summary of the invention
The present invention seeks to solve the power of surgeon when using minimally invasive surgical operation robot and feel that telepresenc lacks problem, provides a kind of three-dimensional force sensor that is used for minimally invasive surgical operation robot.
The three-dimensional force sensor that is used for minimally invasive surgical operation robot provided by the invention, it is the sensor array that constitutes by eight foil gauges, this sensor array mounting arrangements is near the hollow metal round bar periphery of arm end, and is divided into that the round bar radial force is measured and two zones of round bar axial force measurement; Radial force is measured as the power Fx of X and Y both direction and the measurement of Fy, cut out four relative in twos and be orthogonal and arrange rectangle planes that are used to install foil gauge in the hollow metal round bar periphery that is positioned at the radial force measured zone, on the hollow metal round bar of close mechanical hand link one side of four rectangle planes, all process a fairlead with hollow metal round bar internal run-through, two half-bridges are formed on the foil gauge opposite of installing on four rectangle planes, three holding wires of each half-bridge output, three holding wires become a branch of and are entered in the hollow metal round bar from fairlead by heat-shrink tube pyrocondensation parcel back, and are drawn by the link of mechanical hand; Axial force is measured as the measurement of the power Fz of Z direction, relative position in the hollow metal round bar periphery that is positioned at the axial force measured zone is equipped with two pairs of foil gauges, four foil gauge symmetric configurations are formed a Poisson bridge, wherein a pair of foil gauge edge and the axially vertical stickup of hollow metal round bar, another to foil gauge along with hollow metal round bar central shaft to becoming 5 degree angles stickups, on the hollow metal round bar of close mechanical hand link one side of foil gauge, respectively have a fairlead with hollow metal round bar internal run-through, four holding wires of described Poisson bridge output, per two holding wires become a branch of and are entered in the hollow metal round bar from fairlead by heat-shrink tube pyrocondensation parcel back, are drawn by the link of mechanical hand.
The foil gauge periphery of installing on two zones that described hollow metal round bar radial force and axial force are measured covers the metal forming that is used for electromagnetic shielding.Metal forming is used heat-shrink tube pyrocondensation parcel outward.
Advantage of the present invention and good effect:
The present invention is simple in structure, and is highly sensitive, and it is lower to be easy to processing and cost.
Description of drawings
Fig. 1 is the mechanical hand sketch map in the minimally invasive surgical operation robot;
Fig. 2 is hollow metal round bar and eight sensor array scheme of installations that foil gauge constitutes at mechanical hand middle part;
Fig. 3 is with the view of Fig. 2 around round bar axis Rotate 180 degree;
Fig. 4 be among Fig. 2 X to Y to the A-A of power measured zone to cutaway view;
Fig. 5 be among Fig. 2 Z to the B-B of power measured zone to cutaway view.
The specific embodiment
Embodiment 1:
The present invention intends measuring the suffered power of arm end instrument on these three translational degree of freedom directions.During the operation beginning, the sheath pipe of mechanical hand through being fixed on the abdominal wall inserts the patient abdominal cavity, for the contact force of measurement mechanical hands end-of-arm tooling and patient's viscera tissue, force sensor array is arranged in the position (purpose is for fear of the influence of the frictional force between mechanical hand and the sheath pipe to pick off) of close folding instrument on the hollow metal round bar surface.Input power cord and the output signal line of considering pick off again all will pass from the hollow metal round bar, and the hollow metal round bar is carried out some machining to satisfy the needs of placement sensor array and lead-in wire.
1, the three-dimensional force sensor that is used for minimally invasive surgical operation robot provided by the invention, it is the sensor array that constitutes by eight foil gauges, the layout type of eight foil gauges as shown in Figures 2 and 3, Fig. 3 is with the view of Fig. 2 around round bar axis Rotate 180 degree, this sensor array mounting arrangements is in the hollow metal round bar periphery of close arm end as shown in Figure 1, eight sensor array difference measured X that foil gauge constitutes, the power Fx of Y and three directions of Z, Fy and Fz, and be divided into that the round bar radial force is measured and the round bar axial force is measured two zones (XYZ coordinate be as shown in Figure 1, three coordinate axess are vertically mutual and meet at a bit).
The concrete structure of the mechanical hand that the present invention uses can be called No. 200910306053.5 patent/application documents of " transmission of a kind of minimally invasive surgery silk, four-degree-of-freedom operation tool " referring to name.
2, radial force is measured as the power Fx of X and Y both direction and the measurement of Fy, cut out the rectangle plane label 9 to 12(that four relative in twos and being used to of arranging of being orthogonal install foil gauge in the hollow metal round bar periphery that is arranged in radial force measured zone (as Fig. 2 and Fig. 3 A-A section) and see Fig. 4), on the hollow metal round bar of close mechanical hand link one side of four rectangle planes, all process a fairlead label 13 to 16(and see Fig. 4) with hollow metal round bar internal run-through, two half-bridges are formed on the foil gauge opposite of installing on four rectangle planes, be foil gauge 1 and the half-bridge of 3 compositions among Fig. 2 and Fig. 3, foil gauge 2 and 4 is formed a half-bridge, three holding wires of each half-bridge output, three holding wires become a branch of and are entered in the hollow metal round bar from fairlead by heat-shrink tube pyrocondensation parcel back, and are drawn by the link of mechanical hand.
The external diameter of pasting foil gauge is the hollow metal round bar of 10mm, and the rectangular area (shown among Fig. 49,10,11 and 12) of A-A section stickup foil gauge is of a size of 3.3 * 10mm among the figure.Foil gauge is attached to the position of the middle part of four rectangular areas of A-A section near fairlead, and two half-bridges are formed on four foil gauge opposites.Three holding wires of each half-bridge output, these three holding wires become a branch of heat-shrink tube pyrocondensation parcel back by internal diameter 1.5mm to enter in the round bar in the fairlead on the left side, A-A cross section, draw on the left side by round bar, and the length of drawing the back lead is not less than 200mm(still by the heat-shrink tube parcel).
3, axial force is measured as the measurement of the power Fz of Z direction, and (as Fig. 2 and Fig. 3 B-B section, the cylindrical region that foil gauge is installed is of a size of being arranged in the axial force measured zone
9.2 * 15mm, shown among Fig. 5 17) the relative position of hollow metal round bar periphery two pairs of foil gauges are installed, as the foil gauge among Fig. 2 and Fig. 35,6, shown in 7 and 8, on the hollow metal round bar of close mechanical hand link one side of foil gauge, respectively have a fairlead 18 and 19 with hollow metal round bar internal run-through, foil gauge is attached to the position of close fairlead on the B-B section cylindrical region, four foil gauge symmetric configurations are formed a Poisson bridge, wherein a pair of foil gauge edge and the axially vertical stickup of hollow metal round bar, shown in the foil gauge among Fig. 2 and Fig. 35 and 7, another to foil gauge along with hollow metal round bar central shaft to becoming 5 degree angles stickups, shown in foil gauge 6 and 8 among Fig. 2 and Fig. 3.Four holding wires of described Poisson bridge output, per two holding wires become a branch of and are entered in the hollow metal round bar by the fairlead from the left side, B-B cross section behind the heat-shrink tube pyrocondensation parcel of internal diameter 1.5mm, draw on the left side by round bar, and the length of drawing the back lead is not less than 200mm(still by the heat-shrink tube parcel).
4, A-A cross section and B-B section cover the metal forming that is used for electromagnetic shielding after pasting foil gauge among Fig. 2, and metal forming is connected with thin elastic rod.Paste the heat-shrink tube pyrocondensation parcel of the outermost layer in foil gauge zone on A-A cross section and the B-B cross section with internal diameter 12mm.All slits, all the sealing of use with PUR with untapped fairlead.
5, the position of pasting foil gauge is proofreaied and correct reserving the plane (length of this rectangular area is greater than the length of foil gauge) that length is not less than 2mm on the right side with heat-shrink tube parcel back in the rectangular area in A-A cross section among Fig. 2 when being used for sensor installation.
Claims (3)
1. three-dimensional force sensor that is used for minimally invasive surgical operation robot, it is characterized in that described three-dimensional force sensor is the sensor array that is made of eight foil gauges, this sensor array mounting arrangements is near the hollow metal round bar periphery of arm end, and is divided into that the round bar radial force is measured and two zones of round bar axial force measurement; Radial force is measured as the power Fx of X and Y both direction and the measurement of Fy, cut out four relative in twos and be orthogonal and arrange rectangle planes that are used to install foil gauge in the hollow metal round bar periphery that is positioned at the radial force measured zone, on the hollow metal round bar of close mechanical hand link one side of four rectangle planes, all process a fairlead with hollow metal round bar internal run-through, two half-bridges are formed on the foil gauge opposite of installing on four rectangle planes, three holding wires of each half-bridge output, three holding wires become a branch of and are entered in the hollow metal round bar from fairlead by heat-shrink tube pyrocondensation parcel back, and are drawn by the link of mechanical hand; Axial force is measured as the measurement of the power Fz of Z direction, relative position in the hollow metal round bar periphery that is positioned at the axial force measured zone is equipped with two pairs of foil gauges, four foil gauge symmetric configurations are formed a Poisson bridge, wherein a pair of foil gauge edge and the axially vertical stickup of hollow metal round bar, another to foil gauge along with hollow metal round bar central shaft to becoming 5 degree angles stickups, on the hollow metal round bar of close mechanical hand link one side of foil gauge, respectively have a fairlead with hollow metal round bar internal run-through, four holding wires of described Poisson bridge output, per two holding wires become a branch of and are entered in the hollow metal round bar from fairlead by heat-shrink tube pyrocondensation parcel back, are drawn by the link of mechanical hand.
2. the three-dimensional force sensor that is used for minimally invasive surgical operation robot according to claim 1 is characterized in that the foil gauge periphery of installing on two zones of described hollow metal round bar radial force and axial force measurement covers the metal forming that is used for electromagnetic shielding.
3. the three-dimensional force sensor that is used for minimally invasive surgical operation robot according to claim 2 is characterized in that the metal forming of installing on the described hollow metal round bar uses heat-shrink tube pyrocondensation parcel outward.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011101230952A CN102151179B (en) | 2011-05-13 | 2011-05-13 | Three-dimensional force sensor for minimally invasive surgery robot |
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| CN2011101230952A CN102151179B (en) | 2011-05-13 | 2011-05-13 | Three-dimensional force sensor for minimally invasive surgery robot |
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| CN102151179B CN102151179B (en) | 2012-07-04 |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103479355A (en) * | 2013-10-11 | 2014-01-01 | 南开大学 | Minimally invasive surgery tool with non-invasive force and impedance parameter integrated monitoring |
| CN103512694A (en) * | 2012-06-29 | 2014-01-15 | 佳能株式会社 | Force sensor and robot arm including force sensor |
| CN104932382A (en) * | 2015-06-24 | 2015-09-23 | 哈尔滨工业大学 | Three-dimensional miniature force sensor used for touch diagnosis in minimally invasive environment |
| CN105092121A (en) * | 2015-08-11 | 2015-11-25 | 中国航空工业集团公司西安飞机设计研究所 | Method of measuring radial force of rigid pipe |
| CN108008227A (en) * | 2018-01-11 | 2018-05-08 | 西南交通大学 | The in-vitro simulated multifunctional testing experimental provision of electric knife and method |
| CN108542469A (en) * | 2018-02-14 | 2018-09-18 | 天津大学 | Six-dimension force sensor, clamping probe based on image feedback and instrument |
| CN109567946A (en) * | 2018-12-06 | 2019-04-05 | 淄博科智星机器人有限公司 | Robotic surgical tool |
| CN109813473A (en) * | 2019-03-18 | 2019-05-28 | 南开大学 | A kind of minimally invasive surgical operation robot four-dimension force snesor based on fiber grating |
| WO2019174496A1 (en) * | 2018-03-16 | 2019-09-19 | 微创（上海）医疗机器人有限公司 | Surgical robot system and surgical instrument thereof |
| CN113081235A (en) * | 2021-03-24 | 2021-07-09 | 武汉理工大学 | Heart ablation catheter tip optical fiber three-dimensional force sensor with self-compensation of environmental errors |
Families Citing this family (1)
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| CN103549997B (en) * | 2013-11-20 | 2017-03-01 | 沈阳工业大学 | A kind of operating robot being loaded with Force sensor clamps handss from handss |
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| WO2008049898A1 (en) * | 2006-10-25 | 2008-05-02 | The European Atomic Energy Community (Euratom), Represented By The European Commission | Force estimation for a minimally invasive robotic surgery system |
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| WO2008049898A1 (en) * | 2006-10-25 | 2008-05-02 | The European Atomic Energy Community (Euratom), Represented By The European Commission | Force estimation for a minimally invasive robotic surgery system |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103512694A (en) * | 2012-06-29 | 2014-01-15 | 佳能株式会社 | Force sensor and robot arm including force sensor |
| US9027417B2 (en) | 2012-06-29 | 2015-05-12 | Canon Kabushiki Kaisha | Force sensor and robot arm including force sensor |
| CN103512694B (en) * | 2012-06-29 | 2016-03-23 | 佳能株式会社 | Force snesor and the robots arm comprising force snesor |
| CN103479355A (en) * | 2013-10-11 | 2014-01-01 | 南开大学 | Minimally invasive surgery tool with non-invasive force and impedance parameter integrated monitoring |
| CN103479355B (en) * | 2013-10-11 | 2015-04-22 | 南开大学 | Minimally invasive surgery tool with non-invasive force and impedance parameter integrated monitoring |
| CN104932382A (en) * | 2015-06-24 | 2015-09-23 | 哈尔滨工业大学 | Three-dimensional miniature force sensor used for touch diagnosis in minimally invasive environment |
| CN105092121A (en) * | 2015-08-11 | 2015-11-25 | 中国航空工业集团公司西安飞机设计研究所 | Method of measuring radial force of rigid pipe |
| CN105092121B (en) * | 2015-08-11 | 2017-11-03 | 中国航空工业集团公司西安飞机设计研究所 | For the method for the radial load for measuring rigid pipe |
| CN108008227A (en) * | 2018-01-11 | 2018-05-08 | 西南交通大学 | The in-vitro simulated multifunctional testing experimental provision of electric knife and method |
| CN108542469A (en) * | 2018-02-14 | 2018-09-18 | 天津大学 | Six-dimension force sensor, clamping probe based on image feedback and instrument |
| WO2019157806A1 (en) * | 2018-02-14 | 2019-08-22 | 天津大学 | Six-dimensional force sensor based on image feedback, clamping probe, and clamping apparatus |
| WO2019174496A1 (en) * | 2018-03-16 | 2019-09-19 | 微创（上海）医疗机器人有限公司 | Surgical robot system and surgical instrument thereof |
| CN109567946A (en) * | 2018-12-06 | 2019-04-05 | 淄博科智星机器人有限公司 | Robotic surgical tool |
| WO2020114095A1 (en) * | 2018-12-06 | 2020-06-11 | 淄博科智星机器人有限公司 | Robotic surgery tool |
| CN109813473A (en) * | 2019-03-18 | 2019-05-28 | 南开大学 | A kind of minimally invasive surgical operation robot four-dimension force snesor based on fiber grating |
| CN109813473B (en) * | 2019-03-18 | 2020-11-17 | 南开大学 | Four-dimensional force sensor of minimally invasive surgical robot based on fiber bragg grating |
| CN113081235A (en) * | 2021-03-24 | 2021-07-09 | 武汉理工大学 | Heart ablation catheter tip optical fiber three-dimensional force sensor with self-compensation of environmental errors |
| CN113081235B (en) * | 2021-03-24 | 2023-10-13 | 武汉理工大学 | Environment error self-compensating heart ablation catheter tip optical fiber three-dimensional force sensor |
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