阅读说明：本技术 一种机器人手术持针钳的力反馈系统及反馈方法 (Force feedback system and feedback method of robotic surgical needle forceps ) 是由 孙立宁 杜志江 闫志远 夏国杰 于 2019-11-07 设计创作，主要内容包括：本发明涉及一种手术持针钳的力反馈系统及反馈方法,属于手术用器械技术领域。持针钳两个钳头的牙口上分别沿各自的长度方向紧密贴靠设有多个双层电容传感器,两个钳头牙口上的多个双层电容传感器的设置方式相同,每个钳头牙口上的多个双层电容传感器之间均通过导线连接,导线与控制器电连接,控制器与执行机构电连接。本发明利用双层电容传感器在侧向压力下的形态变化而产生不同方向的电流变化,并通过该电流的变化反应缝合线的张力强度,再在主手上加相应的反向力,从而使术者能有缝合线的张力感受,利于术者经验的积累,且在满足术者对于张力感受的同时,提高了术中缝合的稳定性。(The invention relates to a force feedback system and a feedback method of a surgical needle holder, belonging to the technical field of surgical instruments. The tooth mouths of the two forceps heads of the needle-holding forceps are respectively tightly attached to be provided with a plurality of double-layer capacitance sensors along respective length directions, the setting modes of the double-layer capacitance sensors on the tooth mouths of the two forceps heads are the same, the double-layer capacitance sensors on the tooth mouths of each forceps head are connected through wires, the wires are electrically connected with a controller, and the controller is electrically connected with an execution mechanism. The invention utilizes the form change of the double-layer capacitance sensor under the lateral pressure to generate the current change in different directions, the tension strength of the suture line is reflected through the change of the current, and the corresponding reverse force is added to the main hand, so that an operator can feel the tension of the suture line, the accumulation of the experience of the operator is facilitated, and the stability of the suture in the operation is improved while the tension feeling of the operator is met.)

1. The utility model provides a force feedback system of needle holder of robotic surgery, includes needle holder (1), controller (3) and actuating mechanism (4), its characterized in that: the force feedback system further comprises a plurality of double-layer capacitance sensors (2), the tooth mouths of two forceps heads of the needle holding forceps (1) are respectively tightly attached to be provided with the double-layer capacitance sensors (2) along respective length directions, the tooth mouths of the two forceps heads are provided with a plurality of double-layer capacitance sensors (2) in the same arrangement mode, the double-layer capacitance sensors (2) on the tooth mouths of each forceps head are connected through wires, the wires are electrically connected with the controller (3), and the controller (3) is electrically connected with the executing mechanism (4).

2. The force feedback system of a robotic surgical needle holder according to claim 1, wherein: the thickness H of each double-layer capacitive sensor (2) is 40-50 nm.

3. A feedback method of a feedback system according to claim 1 or 2, comprising the steps of:

the method comprises the following steps: the tooth mouths of two forceps heads of the needle holding forceps (1) clamp the surgical needle and the suture thread;

step two: the needle holding forceps (1) pulls the operation needle and the suture thread;

step three: under the action of the pulling force of the surgical needle and the suture, corresponding capacitance blocks (2-1) in the double-layer capacitance sensor (2) contacted with the surgical needle and the suture in the tooth mouths of two forceps heads of the needle holding forceps (1) generate displacement change;

step four: generating current change through the relative displacement change of the step three;

step five: the current in the fourth step is collected, amplified and transmitted to the controller (3) through the signal collector;

step six: the controller (3) reversely drives the motor according to the change of the current;

step seven: the motor controls the active main hand (4-1) of the output actuating mechanism (4) to act in reverse, and the magnitude of the reverse acting force is in direct proportion to the change of the current.

Step eight: through the reverse acting force, an operator has the feeling of suture tensioning, and force feedback is realized.

Technical Field

The invention relates to a force feedback system and a feedback method of a surgical needle holder, belonging to the technical field of surgical instruments.

Background

There are two types of surgical suturing today: one is that the operator holds the needle forceps to suture, the tension strength of the knotted thread during the suture is judged and sensed by the operator through two hands, although the operator can sense the feedback of the tension of the operation thread during the operation, the operator is required to have higher operation quality during the operation, and the operator can not adapt to the operation requirements of all operators. The other is the suture of the surgical robot needle holding device; the needle holding device of the existing surgical robot moves through the electrical control of a main hand piece and is conducted to a terminal instrument (needle holding device) through a mechanical arm, and because the existing surgical robot needle holding device has no force feedback system, an operator cannot feel the tension of a surgical line in the operation process, and simultaneously, the operator feels and judges the tension strength of the surgical line by the vision of the operator, so that the following hidden troubles exist:

1. a patient can flow a large amount of blood during the operation, and the blood can influence the visual field of an operator, so that the operator can make misjudgment;

2. different human tissues have different hardness, so that the tension strength in response to the surgical knots is different, the surgical thread has certain tension, the tightness of the surgical knots is judged by visual straightening of a surgeon, the surgeon is required to have higher operation quality, the operation can be completed by long-term training and practice of the surgeon, and the operation quality of each surgeon is different, so certain risk exists during operation;

3. the existing surgical robot needle-holding device has no force feedback system, can not realize the feedback of the pulling force of the surgical thread, can not meet the operation experience of an operator, and is not beneficial to the accumulation of the experience of the operator.

Disclosure of Invention

In order to solve the problems in the background art, the invention provides a force feedback system and a feedback method of a robotic surgical needle holder.

The invention solves the defects in the background technology by additionally arranging the pressure sensor on the tooth mouth of the needle holding forceps of the surgical robot. The pressure sensors are of various types, and generally, the pressure sensors can only sense the pressure of up and down force (as shown in fig. 9), while the tension of the surgical needle and the suture in the needle holder can generate lateral force on the surface of the needle holder (as shown in fig. 10). In the prior art, there are two types of sensors capable of detecting lateral force: one type of double-layer capacitive sensor is an optical fiber sensor. The optical fiber sensor has higher cost, so the invention adopts the double-layer capacitance sensor.

The invention adopts the following technical scheme: the utility model provides a force feedback system of needle holder of robotic surgery, includes needle holder, controller, actuating mechanism and a plurality of double-deck capacitive sensor, closely paste along respective length direction on the tooth mouth of two binding clip of needle holder and be equipped with a plurality of double-deck capacitive sensor, a plurality of on two binding clip tooth mouths double-deck capacitive sensor's the mode of setting is the same, all connects through the wire between a plurality of double-deck capacitive sensor on every binding clip tooth mouth, the wire is connected with the controller electricity, the controller is connected with the actuating mechanism electricity.

A force feedback system and a feedback method of a needle holder for a robotic surgery comprise the following steps:

the method comprises the following steps: the tooth mouths of the two forceps heads of the needle holding forceps clamp the surgical needle and the suture thread;

step two: the needle holding forceps pull the operation needle and the suture thread;

step three: under the action of the pulling force of the surgical needle and the suture, corresponding capacitance blocks in the double-layer capacitance sensor contacted with the surgical needle and the suture in the tooth mouths of the two forceps heads of the needle holder generate displacement change;

step four: generating current change through the relative displacement change of the step three;

step five: the current in the step four is collected, amplified and transmitted to the controller through the signal collector;

step six: the controller reversely drives the motor according to the change of the current;

step seven: the motor controls the active main hand reverse acting force of the output actuating mechanism, and the magnitude of the reverse acting force is in direct proportion to the change of the current.

Step eight: by the reverse acting force, the operator has the feeling of suture tensioning, and the force feedback is realized

Compared with the prior art, the invention has the beneficial effects that: the invention utilizes the form change of the double-layer capacitance sensor under the lateral pressure to generate the current change in different directions, the tension strength of the suture line is reflected through the change of the current, and the corresponding reverse force is added to the main hand, so that an operator can feel the tension of the suture line, the accumulation of the experience of the operator is facilitated, and the stability of the suture in the operation is improved while the tension feeling of the operator is met.

Drawings

FIG. 1 is a schematic diagram of the connection of a needle holder of the present invention to a plurality of double-layer capacitive sensors;

FIG. 2 is an enlarged view at A of FIG. 1;

FIG. 3 is a front view of a two-layer capacitive sensor;

FIG. 4 is a top view of FIG. 3;

FIG. 5 is a schematic diagram of the change in displacement of the capacitor mass;

FIG. 6 is a schematic diagram of the force feedback system of the present invention;

FIG. 7 is a master force feedback control diagram of the actuator, where P¹、P₁Master hand mechanical feedback force, P, P¹ ₁The master hand is manually pulled;

FIG. 8 is a circuit diagram of the present invention;

FIG. 9 is a force diagram of a typical pressure sensor;

FIG. 10 is a schematic diagram of lateral force application of the present invention.

Detailed Description

The technical solutions in the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the invention, rather than all embodiments, and all other embodiments obtained by those skilled in the art without any creative work based on the embodiments of the present invention belong to the protection scope of the present invention.