CN118662208A - Nuclear magnetic compatible force sensing needle insertion device - Google Patents
Nuclear magnetic compatible force sensing needle insertion device Download PDFInfo
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- CN118662208A CN118662208A CN202410976029.7A CN202410976029A CN118662208A CN 118662208 A CN118662208 A CN 118662208A CN 202410976029 A CN202410976029 A CN 202410976029A CN 118662208 A CN118662208 A CN 118662208A
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- 239000002184 metal Substances 0.000 description 1
- 230000005311 nuclear magnetism Effects 0.000 description 1
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Abstract
The invention discloses a nuclear-magnetic compatible force sensing needle inserting device, which is made of nonmetallic materials, wherein a bracket is fixedly connected with a base and a navigation device; the fixed racks are arranged in parallel with the bracket, and two ends of the fixed racks are fixedly arranged on the bracket; the pneumatic needle feeding cylinder body is sleeved on the outer peripheral side of the fixed rack and is connected with the air supply system, and the air supply system is utilized to pneumatically control the engagement of the pneumatic needle feeding cylinder body and the fixed rack, so that the pneumatic needle feeding cylinder body can move along the fixed rack; the optical fiber of the force sensing sensor is fixedly connected to the inner wall of the circular tube-shaped body; rectangular grooves are formed in the side walls of the circular tube-shaped bodies; each optical fiber forms a first FBG sensor located in the rectangular groove area and a second FBG sensor located outside the rectangular groove area; one end of the puncture needle and one end of the circular tube-shaped body are fixedly arranged on the pneumatic needle inlet cylinder body. The needle feeding device realizes accurate control of puncture needle feeding based on the pneumatic needle feeding cylinder body, and realizes accurate control of tail end force based on the FBG sensor.
Description
Technical Field
The invention relates to the technical field of puncture operation devices, in particular to a nuclear-magnetic compatible force sensing needle insertion device.
Background
At present, the operation mode of the minimally invasive percutaneous puncture operation mainly adopts a 'blind penetration' operation method of 'scanning positioning-puncture-scanning confirmation', which leads to longer irradiation time of doctors and patients, insufficient puncture precision, easy overdependence on experience of the doctors and increased occurrence risk of complications. In order to improve the safety and accuracy of surgery, a more accurate and controllable manner of operation is needed to reduce radiation exposure, improve penetration accuracy, and reduce the burden on the physician in learning the curve.
Accurate force sensing and accurate penetration control are the requisite background requirements for penetration surgical robots. In the puncturing process, the robot must have the capability of detecting and feeding back the resistance changes of different tissues in real time so as to avoid damaging sensitive tissues and ensure the accuracy of the puncturing depth. This requires the robot to be equipped with high precision force sensors that can accurately measure small force variations and feed them back to the control system. In addition, the robot is required to have the capability of precisely controlling the movement of the puncture needle according to force feedback and a preset path, and particularly comprises the control of the movement direction, speed and depth. To fulfill these needs, the combination of advanced control algorithms and high precision motion control mechanisms is critical to improve the safety and success rate of surgery.
During a puncture procedure, the robot often needs to operate in a CT (Computed Tomography ) or MRI (Nuclear magnetic resonance, magnetic resonance imaging) environment. Autonomous penetration of the needle in a CT environment requires the robot to be constructed from as little metal as possible to reduce artifacts. The autonomous penetration of the needle in the nuclear magnetic environment requires that the penetration device must be made of a non-magnetic material to avoid interfering with the magnetic field and radio frequency signals of the MRI apparatus, thereby ensuring imaging quality.
The electronic components of the robot must be able to operate properly in strong magnetic and radio frequency environments, preventing the environment from interfering with the robot control system. These demands require that the robotic system employ special shielding techniques and fiber optic communications to replace conventional cabling.
In summary, the autonomous puncture needle insertion device with accurate puncture position control, accurate force sensing, low artifact and nuclear magnetic compatibility becomes an important constraint factor for further developing the clinical market of the current constraint puncture robot.
Disclosure of Invention
The invention provides a nuclear magnetic compatible force sensing needle insertion device, which realizes accurate control of puncture needle insertion based on a pneumatic needle insertion cylinder body and accurate control of terminal force based on an FBG (fiber Bragg Grating) sensor.
The invention adopts the following specific technical scheme:
the nuclear magnetic compatible force sensing needle inserting device is made of nonmetallic materials and comprises a puncture needle, a locking device, a force sensing sensor, a pneumatic needle inserting cylinder body, a navigation device, a bracket, a fixed rack and a base;
One end of the bracket is fixedly connected with the base, and the other end of the bracket is fixedly connected with the navigation device;
the base is provided with a guide hole for guiding the puncture needle;
The fixed racks are arranged in parallel with the bracket, and two ends of the fixed racks are fixedly arranged on the bracket;
the pneumatic needle feeding cylinder body is sleeved on the outer peripheral side of the fixed rack and is connected with the air supply system, and the air supply system is utilized to pneumatically control the engagement of the pneumatic needle feeding cylinder body and the fixed rack, so that the pneumatic needle feeding cylinder body moves along the fixed rack;
The force sensing sensor comprises a circular tube-shaped body and three or four optical fibers uniformly distributed along the circumferential direction of the circular tube-shaped body; the optical fiber extends along the axial direction of the circular tube-shaped body and is fixedly connected to the inner wall of the circular tube-shaped body; a plurality of rectangular grooves corresponding to each optical fiber are formed in the side wall of the circular tube-shaped body; each optical fiber forms a first FBG sensor located at the rectangular groove area and a second FBG sensor located outside the rectangular groove area; the first FBG sensor of the optical fiber is used for realizing three-dimensional force sensing of the tail end, and the second FBG sensor of the optical fiber is used for realizing temperature compensation of the sensor;
one end of the puncture needle and one end of the circular tubular body are fixedly arranged on one side of the pneumatic needle feeding cylinder body, which is away from the bracket, and move along the fixed rack along with the pneumatic needle feeding cylinder body;
The puncture needle is arranged in parallel with the fixed rack, and is fixedly arranged at the other end of the circular tube-shaped body through the locking device, and the middle part of the puncture needle penetrates through the guide hole;
The navigation device is used for realizing the space positioning of the puncture needle.
Furthermore, one side of the fixed rack is provided with a wide sliding table, the other side of the fixed rack is provided with a thin sliding table, and the middle parts of the two side surfaces are provided with a plurality of teeth;
The pneumatic needle feeding cylinder body comprises a cylinder body upper part, a cylinder body middle part and a cylinder body lower part which are sequentially and fixedly connected; an upper sliding groove is formed in the surface of one side, facing the middle part of the cylinder body, of the upper part of the cylinder body; four air pipe joints are symmetrically arranged on two sides of the middle part of the cylinder body, and the air pipe joints are connected with the air supply system through hoses; the cylinder body is characterized in that a middle sliding groove is formed in the middle of the cylinder body, two pistons are embedded in the middle sliding groove, and air chambers which are communicated with the air pipe joints in a one-to-one correspondence manner are formed between two sides of the pistons and the inner surface of the middle of the cylinder body; the middle sliding groove is matched with the thin sliding table in shape, and the upper sliding groove is matched with the wide sliding table in shape, so that the whole pneumatic needle inlet cylinder body has only one sliding degree of freedom along the extending direction of the fixed rack;
the inner surface of the piston is provided with a plurality of teeth opposite to the teeth of the fixed rack, and the opening and closing of the four air chambers are controlled by the air supply system to realize the alternate meshing between the teeth of different pistons and the teeth of the fixed rack.
Further, a plurality of upper mounting holes are circumferentially arranged at the upper part of the cylinder body; middle mounting holes which are in one-to-one correspondence with the upper mounting holes are formed in the circumference of the middle of the cylinder body; lower mounting holes which are in one-to-one correspondence with the upper mounting holes are formed in the circumferential direction of the lower part of the cylinder body; the upper part of the cylinder body, the middle part of the cylinder body and the lower part of the cylinder body are fixedly connected through fasteners which sequentially penetrate through the upper mounting holes, the middle mounting holes and the lower mounting holes, and the fasteners are used for guaranteeing the tightness of each air chamber.
Further, a top locking ring is arranged on the surface of one side, away from the middle part of the cylinder body, of the upper part of the cylinder body; the top of the top locking ring is fixedly connected with a top puncture needle locking ring, and the center of the top puncture needle locking ring is provided with a top puncture needle guide groove; the top locking ring is sleeved on the outer peripheral side of the circular tube-shaped body, and the circular tube-shaped body is fixedly connected to the upper part of the cylinder body;
the locking device comprises a bottom locking ring locked on the outer periphery of the circular tube-shaped body and a bottom puncture needle locking ring fixedly connected with the bottom locking ring; the center of the bottom puncture needle locking ring is provided with a bottom puncture needle groove for clamping the puncture needle;
the top of the puncture needle is guided by the top puncture needle guide groove, and the puncture needle is fixedly installed on the pneumatic needle inlet cylinder body by the bottom puncture needle locking ring.
Further, a top convex column is arranged in the top locking ring; a bottom convex column is arranged in the bottom locking ring;
A top groove is formed in one end part of the circular tube-shaped body, and a bottom groove is formed in the other end part of the circular tube-shaped body;
The top groove is matched with the top convex column in shape and is used for realizing positioning with the upper part of the cylinder body and locking through the top locking ring;
the bottom groove is matched with the bottom convex column in shape and is used for realizing the positioning of the locking device and locking through the bottom locking ring.
Further, the navigation device comprises a navigation base and three navigation indication balls which are distributed in a triangular shape;
one side of the navigation base is fixedly arranged on the bracket, and the other side of the navigation base is fixedly provided with the navigation indication ball;
And establishing a space coordinate system based on the space positions of the three navigation indication balls, so as to acquire the space position of the puncture needle.
Furthermore, the bracket is provided with opposite first positioning grooves at two end parts facing one side of the fixed rack, and a quick-dismantling structure for realizing quick disassembly and assembly with an external platform is arranged at the middle part of the other side of the bracket facing away from the fixed rack;
An upper positioning table is arranged at one end part of the fixed rack, and a lower positioning table is arranged at the other end part of the fixed rack; the upper positioning table is in plug-in fit with a first positioning groove at one end of the support, the lower positioning table is in plug-in fit with a first positioning groove at the other end of the support, and the upper positioning table is fixedly connected with the support through a fastener.
Further, the bracket is provided with a first mounting hole and a second positioning groove at the end part for mounting the navigation base;
The navigation base is provided with a second mounting hole corresponding to the first mounting hole and a positioning table corresponding to the second positioning groove in position and matched with the second mounting hole in shape;
The navigation base and the bracket are positioned by the plug-in connection of the positioning table and the second positioning groove, and are fixedly connected by the fastener arranged in the corresponding first mounting hole and the second mounting hole.
Further, the circular tubular body is provided with a plurality of glue injection holes;
The optical fiber is adhered in the circular tubular body through the glue injected through the glue injection hole.
Further, the base is provided with an installation positioning part;
the end part of the bracket for mounting the base is provided with a base mounting table;
The base mounting table is connected with the mounting and positioning part and locked, so that the base is in positioning connection with the support.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
The nuclear magnetic compatible force sensing needle insertion device is made of nonmetallic materials, a force sensing sensor is realized based on an FBG (fiber Bragg grating) sensor, and the driving of a puncture needle is realized through a pneumatic system, so that the nuclear magnetic compatible force sensing needle insertion device has nuclear magnetic compatibility; the stepping step length of the pneumatic needle feeding cylinder body is determined by the width of the fixed rack, and can be accurate to 0.25mm, so that the performance of the puncture robot reaches a new height in the aspect of fine control, and additional guarantee is provided for the safety of patients; the robot can more reliably assist doctors to finish high-precision medical operation on the premise of not interfering electromagnetic sensitive equipment, and plays an important role in both complex operation and precise treatment. The problem that an existing needle insertion device of a pneumatic puncture robot has artifacts in a CT environment, cannot be used in a nuclear magnetic environment and is difficult to accurately position the needle insertion depth is solved.
Drawings
FIG. 1 is a schematic view of the overall structure of a force sensing needle insertion device of the present invention;
FIG. 2 is a schematic diagram of a navigation device;
FIG. 3 is a schematic structural view of a bracket;
FIG. 4 is a schematic view of a structure of a stationary rack;
FIG. 5 is a schematic view of the structure of the base;
FIG. 6 is a schematic view of the structure of the pneumatic needle cylinder;
FIG. 7 is a schematic view of the structure of the middle and lower parts of the cylinder;
FIG. 8 is a schematic view of the structure of the upper part of the cylinder;
FIG. 9 is a schematic diagram of a force sensing sensor;
FIG. 10 is a schematic view of the structure of the locking device;
Fig. 11 is a schematic diagram of the control principle of the force sensing needle insertion device.
The device comprises a 1-puncture needle, a 2-locking device, a 3-force sensing sensor, a 4-pneumatic needle inlet cylinder, a 5-navigation device, a 6-bracket, a 7-fixed rack, an 8-base, a 21-bottom locking ring, a 22-bottom convex column, a 23-bottom puncture needle locking ring, a 24-bottom puncture needle groove, a 31-bottom groove, a 32-rectangular groove, a 33-top groove, a 34-glue filling hole, a 35-optical fiber, a 41-cylinder upper part, a 42-cylinder middle part, a 43-cylinder lower part, a 411-top locking ring, a 412-top puncture needle locking ring, a 413-top convex column, a 414-upper part mounting hole, a 415-upper part sliding groove, a 421-tracheal joint, a 422-middle part mounting hole, a 423-middle sliding groove, a 424-piston, a 425-air chamber, a 431-lower part mounting hole, a 51-navigation base, a 52-navigation indicating ball, a 53-second mounting hole, a 54-positioning table, a 61-first positioning groove, a 62-first mounting hole, a 63-second positioning groove, a 64-quick-base, a 65-width-mounting table, a 71-width-upper part mounting table, a 415-upper part sliding table, a 415-upper part, a lower part sliding table, a position guiding table, a position and a position-lower part, a positioning table, a position-82-positioning table, a positioning table, and a position-positioning table.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in the structure of fig. 1, the present embodiment provides a force sensing needle insertion device compatible with nuclear magnetism, which is made of nonmetallic materials and comprises a puncture needle 1, a locking device 2, a force sensing sensor 3, a pneumatic needle insertion cylinder body 4, a navigation device 5, a bracket 6, a fixed rack 7 and a base 8;
The bracket 6 and the base 8 are the basis of the whole force sensing needle inserting device; as shown in fig. 1, the bottom end of the bracket 6 is fixedly connected with the base 8, and the top end is fixedly connected with the navigation device 5; the navigation device 5 is positioned at the top of the force sensing needle feeding device, the puncture needle 1 and the force sensing sensor 3 are positioned at the front part of the pneumatic needle feeding cylinder body 4, the fixed rack 7 is fixedly arranged on the bracket 6, and the bottom end of the bracket 6 is fixedly connected with the base 8;
As shown in fig. 1 and 2, the navigation device 5 is used for realizing the spatial positioning of the puncture needle 1, and comprises a navigation base 51 and a navigation indication ball 52; the navigation base 51 can be of a T-shaped structure, two second mounting holes 53 are formed in two ends of the navigation base 51, and a positioning table 54 is arranged at the tail of the navigation base 51; specifically, the positioning table 54 is inserted into the second positioning groove 63 of the bracket 6 in a form-fitting manner, so as to position the navigation device 5 and the bracket 6, and is fixed with the first mounting hole 62 of the bracket 6 through the second mounting hole 53 by using a screw. The three navigation indication balls 52 are distributed in a triangle shape and are respectively arranged at the three outer ends of the navigation base 51; the bottom end of the navigation base 51 is fixedly arranged on the bracket 6, and the top end is fixedly provided with a navigation indication ball 52. The spatial positions of the three navigation indicators 52 may be captured by a medical image or an optical navigation device, and the spatial coordinate system may be established based on the spatial positions of the three navigation indicators, thereby obtaining the spatial position of the puncture needle device. The navigation device can navigate by using the navigation indication ball 52, or can navigate by using other markers, an optical navigator or image recognition data.
As shown in fig. 3, the upper and lower ends of one side of the bracket 6 are respectively provided with a first positioning groove 61, the middle position of the other side is provided with two quick-release structures 64, and the top of the bracket 6 is provided with two first mounting holes 62 and a second positioning groove 63. Specifically, the quick release structure 64 may be a wedge for connection with an external platform to enable quick replacement and securement.
As shown in fig. 4, the fixed rack 7 and the puncture needle 1 are both arranged in parallel with the bracket 6; the top of the fixed rack 7 is provided with an upper positioning table 72, the bottom is provided with a lower positioning table 75, one side of the fixed rack 7 is a wide sliding table 71, the other side is a thin sliding table 73, and two sides of the middle part are provided with a plurality of teeth 74; the upper positioning table 72 and the lower positioning table 75 are matched with the first positioning grooves 61 at the upper end and the lower end of the bracket 6, position the position relationship between the bracket 6 and the fixed rack 7, and fixedly connect the fixed rack 7 on the bracket 6 through fasteners such as screws, rivets and the like.
As shown in fig. 6, 7 and 8, the pneumatic needle feeding cylinder body 4 is sleeved on the outer peripheral side of the fixed rack 7 and is connected with an air supply system, and the engagement of the pneumatic needle feeding cylinder body 4 and the fixed rack 7 is pneumatically controlled by the air supply system, so that the pneumatic needle feeding cylinder body 4 moves along the fixed rack 7; the pneumatic needle feeding cylinder body 4 comprises a cylinder body upper part 41, a cylinder body middle part 42 and a cylinder body lower part 43 which are fixedly connected in sequence; the back of cylinder body upper portion 41, i.e. towards the side of fixed rack 7 is provided with upper portion sliding groove 415, is provided with a plurality of upper portion mounting holes 414 all around, and the front portion is provided with top locking ring 411, is provided with top pjncture needle locking ring 412 in the top of top locking ring 411, is provided with top pjncture needle guide way at the center of top locking ring 412, and top pjncture needle guide way is used for leading the top of pjncture needle 1, is equipped with top projection 413 in top locking ring 411 inside. Four air pipe joints 421 are arranged on two sides of the middle part 42 of the cylinder body, the four air pipe joints 421 are symmetrically distributed, a plurality of middle mounting holes 422 are formed in the periphery of the middle part 421, a middle sliding groove 423 is formed in the middle part 42 of the cylinder body, two pistons 424 are arranged, each piston 424 is of a U-shaped structure, the outer sides of the pistons 424 are attached to the inner wall of the middle part 42 of the cylinder body, 4 air chambers 425 are formed on two sides of each piston 424, each air chamber 425 is formed between the outer side wall of each piston 424 and the inner wall of the middle part 42 of the cylinder body, each air chamber 425 is communicated with one air pipe joint 421, and the volume of each air chamber 421 is determined by air conveyed by the air pipe joints 421. A plurality of lower mounting holes 431 are provided around the cylinder lower portion 43. The upper mounting hole 414, the middle mounting hole 422 and the lower mounting hole 431 are positioned correspondingly, and the upper cylinder 41, the middle cylinder 42 and the lower cylinder 43 are connected and fixed by fasteners penetrating through the corresponding mounting holes, so that the tightness of the air chamber 425 is ensured. The air pipe joint 421 is connected with an air supply system through an external hose, air is supplied to the air chamber through the air supply system, a mounting space for the fixed rack 7 is formed between the fixedly connected cylinder upper part 41 and the cylinder middle part 42, the upper sliding groove 415 is contacted with the wide sliding table 71, the middle sliding groove 423 is contacted with the thin sliding table 73, and the whole pneumatic needle inlet cylinder 4 is guaranteed to have one direction of movement freedom through the shape fit of the two sides of the fixed rack 7 with the cylinder upper part 41 and the cylinder middle part 42. The piston 424 is meshed with the teeth of the fixed rack 7 through the teeth 74, and the opening and closing of the four air chambers 425 on the two sides of the piston 424 are controlled, so that the teeth of the piston 424 are sequentially meshed with the teeth 74 of the fixed rack, alternate meshing between the teeth of different pistons 424 and the teeth 74 of the fixed rack 7 is realized, and the pneumatic needle feeding cylinder body 4 moves along the fixed rack 7.
As shown in fig. 10, the locking device 2 mainly includes a bottom locking ring 21 and a bottom puncture needle locking ring 23; the bottom locking ring 21 is provided with a bottom boss 22 inside, and the bottom puncture needle locking ring 23 is provided with a bottom puncture needle groove 24 at the center for clamping the puncture needle 1.
As shown in fig. 9, the force sensing sensor 3 includes a circular tubular body, three or four optical fibers 35 uniformly distributed along the circumferential direction of the circular tubular body; the optical fiber 35 extends along the axial direction of the circular tubular body and is fixedly connected to the inner wall of the circular tubular body; a plurality of rectangular grooves 32 corresponding to each optical fiber 35 are arranged on the side wall of the circular tube-shaped body; each optical fiber 35 forms a first FBG sensor located in the area of the rectangular slot 32 and a second FBG sensor located outside the rectangular slot area; the first FBG sensor of the optical fiber 35 is used for realizing three-dimensional force sensing of the tail end, and the second FBG sensor of the optical fiber 35 is used for realizing temperature compensation of the sensor; the top of pipe form body is provided with top recess 33, and the bottom is provided with bottom recess 31, is close to the bottom position at force perception sensor 3, is provided with a plurality of rectangular channels 32, is close to the top position, is provided with glue injection hole 34, at the inside lateral wall of pipe form body, evenly distributed has three or four optic fibre 35. The optical fiber 35 is adhered to the inner wall of the circular tubular body by glue injected through the glue injection hole 34.
Specifically, the top groove 33 is matched with the top convex column 413, the relative position between the positioning force sensing sensor 3 and the upper part 41 of the cylinder body is locked by the top locking ring 411, the top locking ring 411 is sleeved on the top peripheral side of the circular tubular body, the bottom groove 31 is matched with the bottom convex column 22, the relative position between the positioning force sensing sensor 3 and the locking device 2 is locked by the bottom locking ring 21, and the bottom locking ring 21 is sleeved on the outer peripheral side of the circular tubular body in a locking manner. Due to the rectangular grooves 32, the force sensor 3 is deformed by bending when receiving a force, and when the optical fiber 35 of the four walls inside the force sensor 3 is stretched or compressed, the corresponding reflected wave is changed, and the shape or force is sensed by the amount of change in wavelength. After the optical fiber 35 is put into the force sensing sensor 3, glue is injected through the glue injection hole 34, thereby fixing the optical fiber 35.
As shown in fig. 5, the base 8 is provided with a guide hole 81 for guiding the puncture needle 1; comprises a puncture needle guiding hole 81 and a base mounting and positioning part 82, in particular, a bracket 6 is connected with the base mounting and positioning part 82 through a base mounting table 65, thereby positioning the relative position of the base 8 and the bracket 6 and locking and connecting.
The puncture needle 1 is guided by the guide hole 81 of the base 8 and the top puncture needle guide groove, and is fixed in relative position with the force sensing sensor 3 by the bottom puncture needle locking ring 23 of the locking device 2.
The force sensing needle feeding device adopts two groups of cylinders, so that the control precision of half teeth is realized; three groups of cylinders can be adopted to realize the control precision of 1/3 teeth; 4 groups of pneumatic can be adopted to realize the control precision of 1/4 tooth, and so on.
In order to meet the special environment requirements of CT and MRI, the force sensing needle insertion device adopts a pneumatic control scheme, as shown in FIG. 11, and the key of the scheme is that a pneumatic stepping motor is used for replacing a traditional motor, so that the problem of compatibility of the motor in a high magnetic field environment is solved. The design enables the minitype navigation positioning operation robot to be applied in a wide medical environment, especially in the occasion needing image auxiliary operation.
In the above system, the pneumatic device employs a bus communication protocol to transmit control signals which are then sent to a relay to further control the solenoid valve. The electromagnetic valve can switch states at a specific frequency according to the received signals, so that the starting and stopping of the pneumatic stepping motor are accurately controlled, and the motor is ensured to move according to preset speed and force. The pneumatic stepping motor adopted by the invention is optimized in performance, and can ensure high precision and repeatability of the puncturing process.
The control system of the pneumatic stepping motor is used for injecting compressed air into the cavity by activating the corresponding pneumatic valve so as to push the piston to move. By precisely controlling the switching sequence and timing of the valves, the motor can be moved linearly at a predetermined step frequency and direction.
As shown in fig. 11, in the application scenario of the surgical robot, the relay receives signals from the host computer, and these signals are carefully calculated and processed to ensure that they represent the correct surgical operation instructions. After receiving the command, the relay changes state, thereby controlling the solenoid valve connected to its output. The opening and closing of the electromagnetic valve directly controls the work of the air pump, and the air pump provides power for the pneumatic motor, and the pneumatic motor drives the puncture needle to accurately move. The coordination of this series of actions enables the surgical robot to perform delicate operations such as puncturing, the accuracy of which is directly related to the success rate of the procedure.
In the control process, the relay not only responds to the control signal of the upper computer, but also can receive feedback from a sensor, such as a signal of a pressure sensor, so as to adjust the working state of the pneumatic motor and ensure the stability and safety of operation. In addition, the bus communication in the process ensures the reliability of signal transmission and the stable operation of the whole system.
The sensing of the force sensing sensor 3 is realized based on a Fiber Bragg Grating (FBG) and based on optical fiber communication, and has nuclear magnetic compatibility. The driving of the needle inserting device is realized by a pneumatic device, and the magnetic compatibility is realized. In summary, the force sensing pneumatic needle insertion device designed herein has nuclear magnetic compatibility as a whole.
In addition, the invention also enables miniaturization of the device, the volume of which can be controlled within a compact space of 40mm x 30mm x 25mm, ensuring that it can be easily integrated into various medical environments, especially within medical equipment of limited space.
In terms of accuracy, the stepping step of the pneumatic device is determined by the width of the rack, and can be accurate to 0.25 mm.
The force sensing needle insertion device not only can enable the performance of the puncture robot to reach a new height in the aspect of fine control, but also provides additional guarantee for the safety of patients. The robot can more reliably assist doctors to finish high-precision medical operation on the premise of not interfering electromagnetic sensitive equipment, and plays an important role in complex operation process or precise treatment.
The force sensing needle inserting device comprises a visual positioning module, a pneumatic needle inserting module and a force sensing module; a specific description about the above-described force-sensing needle insertion device is as follows, in which the movement relationship of the respective components is described in a coordinate system shown in fig. 1, wherein the needle insertion direction of the puncture needle 1 is the negative Z-axis direction;
The pneumatic needle cylinder 4 is connected with a pneumatic system through four air pipe joints 421 and hoses, so that four pneumatic air inlet channels can be established, wherein two air inlet channels act on one piston 424, and the piston 424 can realize translational reciprocating motion in the horizontal Y-axis direction. During the movement of the piston 424, the straight teeth of the piston 424 will be in partial contact with the teeth 74 in the stationary rack 7 and cause a translational movement of the pneumatic needle cylinder 4 in the vertical direction of the Z-axis. By designing the distance between the teeth of the two sides of the piston 424 to be different by half a tooth pitch, when the left side air inlet channel is in air inlet, the piston 424 moves rightwards, namely in the positive direction of the Y axis, and the pneumatic needle inlet cylinder body 4 moves in the negative direction of the Z axis through contact with the fixed rack 7; similarly, when the right intake passage is intake, the piston 424 moves leftward, i.e., in the negative Y-axis direction, and the pneumatic needle cylinder 4 moves in the positive Z-axis direction by contact with the stationary rack 7. Vertical Z-axis reciprocation of the pneumatic needle cylinder 4 can thus be achieved by controlling the horizontal Y-axis reciprocation of the piston 424.
Furthermore, it can be noted that: when the entire position of the pneumatic needle cylinder 4 is moved upward, i.e., in the positive Z-axis direction, by one tooth distance, the direction of the movement of the piston 424 in association with the fixed rack 7 is reversed.
Based on this, in order to further realize the single-direction continuous movement of the pneumatic needle cylinder 4, two sets of pistons 424 are designed to be vertically arranged in the Z-axis direction, and the interval between the two sets of pistons 424 is not an integer multiple of the number of teeth, for example, 5.5 pitch distance. In the needle inserting process, firstly, the upper piston moves towards the positive direction of the Y axis, and meanwhile, the lower piston moves towards the negative direction of the Y axis, so that the pneumatic needle inserting cylinder body moves by half a tooth distance in the negative direction of the Z axis; then the lower piston moves towards the positive direction of the Y axis, and the upper piston moves towards the negative direction of the Y axis, so that the pneumatic needle feeding cylinder body moves by half a tooth distance in the negative direction of the Z axis. Whereby the above-described periodic movement is continuously performed, the pneumatic needle-feeding cylinder can realize continuous needle feeding in the negative direction of the Z-axis. And each periodic movement can realize the movement distance of one tooth of the pneumatic needle inlet cylinder body. Therefore, the pneumatic needle feeding cylinder body can realize the stepping motion control of the piston and the half pitch of the fixed rack, and realizes the accurate control of the needle feeding depth of puncture.
The force sensor 3 is connected to the puncture needle 1 via the locking device 2 and to the pneumatic needle feeding cylinder 4 via the cylinder upper part 41, whereby the puncture needle 1 can be forced against the force sensor 3.
As shown in fig. 9, the sensor may be provided with three optical fibers 35 distributed at 120 °, and two optical Fiber Bragg Grating (FBG) sensors are distributed on each optical fiber, and are respectively located in the non-rectangular groove area and the rectangular groove area. The three FBG groups on three fibers in the rectangular slot area are one FBG group, denoted as FBGs-1. Three FBGs on three fibers in the non-rectangular groove region form another FBG group, denoted as FBGs-2. Wherein FBGs-2 is used to realize temperature compensation of the sensor and FBGs-1 is used to realize three-dimensional force sensing of the tail end.
The modeling process of the force sensing sensor 3 is:
Most operating forces at the needle tip of the lancet are typically less than 5N. Thus, assuming very little elastic deformation, the sensor can be assumed to be an Euler-Bernoulli beam, loaded with radial (F x and F y) and axial (F z) forces at the tips, producing a linear proportion of localized elastic strain on each fiber grating. The bragg wavelength shift of each fiber bragg grating sensor may be expressed as:
Δλi,j＝X Ci,j·Fx+Y Ci,j·Fy+Z Ci,j·Fz+ΔT Ci,j·ΔT,(i＝1,2,3,j＝1,2).
Where Δλ i,j is the Bragg wavelength shift of fiber i in the j-th set of FBGs. XCi,j、YCi,j、ZCi,j And ΔTCi,j represent the linear relationship between grating wavelength Δλ i,j and F x、Fy、Fz and temperature change Δt, respectively.
Since the two groups of FBGs have the same diameter and length, they are ideally equally affected by temperature variations. However, since the FBGs-2 for assisting bending moment checking and temperature compensation is different in shape and structure from the FBGs-1 for force sensing, it can be assumed that it is also affected differently by temperature, which can be expressed as:
wherein ΔTC1 and ΔTC2 are the effects on FBGs-2 and FBGs-1, respectively, due to DeltaT.
As can be seen from the figure, the designed rectangular groove structure has mechanical characteristic similarity between the X axis and the Y axis and is obviously different from the axial mechanical characteristic, so that the model is divided into an axial part and a radial part for independent analysis.
For radial force of the three-dimensional force sensor, the three FBGs-1 are affected by the same axial load:
the amount of grating deformation under the influence of axial load and temperature can be expressed as:
The effect of temperature variations is eliminated by subtracting the common wavelength model from the Bragg wavelength of each fiber of FBGs-1 and FBGs-2:
residual wavelengths of three FBGs There is a linear relationship with the radial force. Thus, the radial force experienced by a three-dimensional force sensor model can be expressed as:
Wherein the method comprises the steps of Is a linear matrix.
In order to make FBGs-1 more sensitive to axial forces, flexible structures have been designed to increase the sensitivity of the sensor to axial forces. However, this also results in the fact that FBGs-1 is equally sensitive to radial forces. Thus we need to pass throughEliminating the influence of radial force on axial force:
The ZC＝[ZC1 ZC2]T,ΔTC＝[ΔTC1 ΔTC2]T. is enabled to develop the optical fiber wavelength change under different stress conditions at normal temperature respectively, and the optical fiber wavelength change under different temperatures without stress can be modified as follows:
Then ZC1、ZC2、ΔTC1、ΔTC2 can be determined separately.
Using Z C and ΔT C, one can obtain:
Thus, the puncture force F z in the Z axis can be finally obtained.
It will be apparent to those skilled in the art that various modifications and variations can be made to the embodiments of the present invention without departing from the spirit and scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. The nuclear magnetic compatible force sensing needle inserting device is characterized by being made of a nonmetallic material and comprising a puncture needle, a locking device, a force sensing sensor, a pneumatic needle inserting cylinder body, a navigation device, a bracket, a fixed rack and a base;
One end of the bracket is fixedly connected with the base, and the other end of the bracket is fixedly connected with the navigation device;
the base is provided with a guide hole for guiding the puncture needle;
The fixed racks are arranged in parallel with the bracket, and two ends of the fixed racks are fixedly arranged on the bracket;
the pneumatic needle feeding cylinder body is sleeved on the outer peripheral side of the fixed rack and is connected with the air supply system, and the air supply system is utilized to pneumatically control the engagement of the pneumatic needle feeding cylinder body and the fixed rack, so that the pneumatic needle feeding cylinder body moves along the fixed rack;
The force sensing sensor comprises a circular tube-shaped body and three or four optical fibers uniformly distributed along the circumferential direction of the circular tube-shaped body; the optical fiber extends along the axial direction of the circular tube-shaped body and is fixedly connected to the inner wall of the circular tube-shaped body; a plurality of rectangular grooves corresponding to each optical fiber are formed in the side wall of the circular tube-shaped body; each optical fiber forms a first FBG sensor located at the rectangular groove area and a second FBG sensor located outside the rectangular groove area; the first FBG sensor of the optical fiber is used for realizing three-dimensional force sensing of the tail end, and the second FBG sensor of the optical fiber is used for realizing temperature compensation of the sensor;
one end of the puncture needle and one end of the circular tubular body are fixedly arranged on one side of the pneumatic needle feeding cylinder body, which is away from the bracket, and move along the fixed rack along with the pneumatic needle feeding cylinder body;
The puncture needle is arranged in parallel with the fixed rack, and is fixedly arranged at the other end of the circular tube-shaped body through the locking device, and the middle part of the puncture needle penetrates through the guide hole;
The navigation device is used for realizing the space positioning of the puncture needle.
2. The force sensing needle insertion device according to claim 1, wherein one side of the fixed rack is provided with a wide sliding table, the other side is provided with a thin sliding table, and the middle parts of the two sides are provided with a plurality of teeth;
The pneumatic needle feeding cylinder body comprises a cylinder body upper part, a cylinder body middle part and a cylinder body lower part which are sequentially and fixedly connected; an upper sliding groove is formed in the surface of one side, facing the middle part of the cylinder body, of the upper part of the cylinder body; four air pipe joints are symmetrically arranged on two sides of the middle part of the cylinder body, and the air pipe joints are connected with the air supply system through hoses; the cylinder body is characterized in that a middle sliding groove is formed in the middle of the cylinder body, two pistons are embedded in the middle sliding groove, and air chambers which are communicated with the air pipe joints in a one-to-one correspondence manner are formed between two sides of the pistons and the inner surface of the middle of the cylinder body; the middle sliding groove is matched with the thin sliding table in shape, and the upper sliding groove is matched with the wide sliding table in shape, so that the whole pneumatic needle inlet cylinder body has only one sliding degree of freedom along the extending direction of the fixed rack;
the inner surface of the piston is provided with a plurality of teeth opposite to the teeth of the fixed rack, and the opening and closing of the four air chambers are controlled by the air supply system to realize the alternate meshing between the teeth of different pistons and the teeth of the fixed rack.
3. The force sensing needle insertion device of claim 2, wherein the cylinder upper portion is circumferentially provided with a plurality of upper mounting holes; middle mounting holes which are in one-to-one correspondence with the upper mounting holes are formed in the circumference of the middle of the cylinder body; lower mounting holes which are in one-to-one correspondence with the upper mounting holes are formed in the circumferential direction of the lower part of the cylinder body; the upper part of the cylinder body, the middle part of the cylinder body and the lower part of the cylinder body are fixedly connected through fasteners which sequentially penetrate through the upper mounting holes, the middle mounting holes and the lower mounting holes, and the fasteners are used for guaranteeing the tightness of each air chamber.
4. The force sensing needle insertion device of claim 2, wherein the upper portion of the cylinder is provided with a top locking ring at a side surface facing away from the middle portion of the cylinder; the top of the top locking ring is fixedly connected with a top puncture needle locking ring, and the center of the top puncture needle locking ring is provided with a top puncture needle guide groove; the top locking ring is sleeved on the outer peripheral side of the circular tube-shaped body, and the circular tube-shaped body is fixedly connected to the upper part of the cylinder body;
the locking device comprises a bottom locking ring locked on the outer periphery of the circular tube-shaped body and a bottom puncture needle locking ring fixedly connected with the bottom locking ring; the center of the bottom puncture needle locking ring is provided with a bottom puncture needle groove for clamping the puncture needle;
the top of the puncture needle is guided by the top puncture needle guide groove, and the puncture needle is fixedly installed on the pneumatic needle inlet cylinder body by the bottom puncture needle locking ring.
5. The force sensing needle insertion device of claim 4, wherein a top boss is provided inside the top locking ring; a bottom convex column is arranged in the bottom locking ring;
A top groove is formed in one end part of the circular tube-shaped body, and a bottom groove is formed in the other end part of the circular tube-shaped body;
The top groove is matched with the top convex column in shape and is used for realizing positioning with the upper part of the cylinder body and locking through the top locking ring;
the bottom groove is matched with the bottom convex column in shape and is used for realizing the positioning of the locking device and locking through the bottom locking ring.
6. The force sensing needle insertion device of claim 1, wherein the navigation device comprises a navigation base and three navigation indicator balls in a triangular distribution;
one side of the navigation base is fixedly arranged on the bracket, and the other side of the navigation base is fixedly provided with the navigation indication ball;
And establishing a space coordinate system based on the space positions of the three navigation indication balls, so as to acquire the space position of the puncture needle.
7. The force sensing needle insertion device according to claim 6, wherein the bracket is provided with opposite first positioning grooves at both end portions facing one side of the fixed rack, and a quick-release structure for quick-release with an external platform is provided at the middle portion of the other side facing away from the fixed rack;
An upper positioning table is arranged at one end part of the fixed rack, and a lower positioning table is arranged at the other end part of the fixed rack; the upper positioning table is in plug-in fit with a first positioning groove at one end of the support, the lower positioning table is in plug-in fit with a first positioning groove at the other end of the support, and the upper positioning table is fixedly connected with the support through a fastener.
8. The force sensing needle insertion device of claim 7, wherein the bracket is provided with a first mounting hole and a second positioning groove at an end portion where the navigation base is mounted;
The navigation base is provided with a second mounting hole corresponding to the first mounting hole and a positioning table corresponding to the second positioning groove in position and matched with the second mounting hole in shape;
The navigation base and the bracket are positioned by the plug-in connection of the positioning table and the second positioning groove, and are fixedly connected by the fastener arranged in the corresponding first mounting hole and the second mounting hole.
9. The force sensing needle insertion device of claim 1, wherein the tubular body is provided with a plurality of glue injection holes;
The optical fiber is adhered in the circular tubular body through the glue injected through the glue injection hole.
10. A force sensing needle insertion device according to any of claims 1-9, wherein the base is provided with a mounting location;
the end part of the bracket for mounting the base is provided with a base mounting table;
The base mounting table is connected with the mounting and positioning part and locked, so that the base is in positioning connection with the support.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410976029.7A CN118662208A (en) | 2024-07-19 | 2024-07-19 | Nuclear magnetic compatible force sensing needle insertion device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410976029.7A CN118662208A (en) | 2024-07-19 | 2024-07-19 | Nuclear magnetic compatible force sensing needle insertion device |
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| CN202410976029.7A Pending CN118662208A (en) | 2024-07-19 | 2024-07-19 | Nuclear magnetic compatible force sensing needle insertion device |
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