CN105547547A - Force and torque measurement sensor of colonoscope - Google Patents

Abstract

The invention discloses a colonoscope force and torque measuring sensor, which comprises an inner sleeve composed of an upper half part (18) and a lower half part (27) of the inner sleeve, and an upper half part (3) of the outer sleeve ) and the lower half of the outer sleeve (5), the locking mechanism consisting of the locking upper cover (1) and the locking lower cover (6), and the elastic body (14), the locking The device is connected to the rear end of the inner sleeve, and the inner sleeve is located in the outer sleeve, and it is characterized in that the elastic body (14) is located at the inner rear end of the outer sleeve, and is composed of cross beams (33), strain gauges and Sensing bar (34) is made up, and described strain gage is pasted on the four beams of cross beam (33), and the bottom end of described sensing bar (34) joins with the intersection of cross beam (33), and sensing The top end of the bottom end of the rod (34) joins with the inner sleeve. The invention has the advantages of small size, simple operation, high sensitivity and the like.

Description

A colonoscope force and torque measurement sensor

technical field

The invention belongs to the technical field of endoscopic instruments and force measuring sensors, and in particular relates to a novel measuring device for colonoscope force and torque.

Background technique

Due to its high efficiency and minimal invasiveness, colonoscopy has been widely used in the examination, diagnosis and treatment of enteropathy. When using a colonoscope, the doctor is required to accurately and safely send the probe at the end of the colonoscope intervention hose into the symptom site. Due to the extremely complex structure of the human intestinal tract, doctors are required to accurately grasp the force when using the colonoscope. If the doctor uses improper force when operating the colonoscope, it is very likely to cause damage to the patient's intestinal tract, which will bring great harm to the patient. Great pain, even cause intestinal perforation in severe cases, which makes colonoscopic surgery have certain risks and unsafety. However, at present, there is no device in China that can effectively detect the external force exerted by the doctor on the intervention hose when operating the colonoscope, and there is no system that can quantitatively evaluate the level of the doctor's operation of the colonoscope.

Contents of the invention

For the deficiencies in the prior art, the purpose of the present invention is to provide a colonoscope force and torque measurement sensor, which can monitor the external force applied by the doctor when operating the colonoscope in real time. To solve the background The deficiencies in the technology can realize the quantitative evaluation of the external force applied by the doctor when operating the colonoscope, so as to help the doctor better control his own force, so as to reduce the pain of the patient, reduce the occurrence of medical accidents such as perforation, and make the colon Mirror surgery has become safer.

To achieve the above object, the present invention adopts the following technical solutions:

A colonoscope force and torque measurement sensor, comprising an inner sleeve consisting of an inner sleeve upper half 18 and an inner sleeve lower half 27, consisting of an outer sleeve upper half 3 and an outer sleeve lower half 5 The outer sleeve, the locking mechanism composed of the locking upper cover 1 and the locking lower cover 6, and the elastic body 14, the locking mechanism is connected with the rear end of the inner sleeve, and the inner sleeve is located in the outer sleeve In the cylinder, the elastic body 14 is located at the inner rear end of the outer sleeve, and is composed of a cross beam 33, a semiconductor strain gauge and a sensing rod 34. The semiconductor strain gauge is pasted on four beams of the cross beam 33. The bottom end of the sensing rod 34 is connected to the intersection of the cross beam 33 , and the upper end of the sensing rod 34 is connected to the inner sleeve.

Preferably, the sensing rod is a cube.

Preferably, the locking mechanism also includes a motor 20, the front side of the locking upper cover 1 and the front side of the locking lower cover 6 are connected by a rotating rod 17, the rear side of the locking upper cover 1 and the lock The rear side of the tight lower cover 6 is connected by a screw rod 30 , the motor 20 is located inside the locked lower cover 6 , and the bottom end of the screw rod 30 is connected with the motor 20 .

Preferably, the locking lower cover 6 is integrated with the lower half part 27 of the inner sleeve.

Preferably, the shape of the upper half of the outer sleeve 3 and the lower half of the outer sleeve 5 is fan-shaped, and the cross-sectional area of the lower half of the outer sleeve 5 is equal to that of the upper half of the outer sleeve 3 the cross-sectional area of .

Preferably, the concave surface of the upper half part 3 of the outer sleeve is provided with the first groove body 21 of the outer sleeve, the wire groove 38 and the second groove body 15 of the outer sleeve, and the wire groove 38 is formed from the outer sleeve The rear end of the first groove body 21 begins to extend to the front end of the second groove body 15 of the outer sleeve; The wire 9 is provided with a battery 10 in the second tank body 15 in the upper half of the outer sleeve.

Preferably, a peep hole 2 is provided at the front end of the first tank body 21 in the upper half of the outer sleeve, and a charging hole 4 is provided at the rear end of the second tank body 15 in the upper half of the outer sleeve.

Preferably, the outer side of the inner sleeve is provided with a first groove body 32 of the inner sleeve, and the first groove body 32 of the inner sleeve is in contact with the sensing rod.

Preferably, the concave area of the lower half part 5 of the outer sleeve is provided with a third groove body 37 of the outer sleeve and a fourth groove body 19 of the outer sleeve, and an elastic body 14 is arranged in the third groove body 37 of the outer sleeve. A circuit board 13 is arranged in the fourth groove body 19 of the outer sleeve.

Compared with the prior art, the present invention has the following advantages and beneficial effects:

1. The present invention provides a sensor capable of real-time monitoring of the external force exerted by the doctor on the colonoscope when operating the colonoscope, which can effectively improve the safety of colonoscopy surgery and reduce the risk of surgery. At the same time, the present invention also provides A means to evaluate and quantify the level of doctors operating colonoscopy.

2. The colonoscope force and torque measuring sensor provided by the present invention is small in size, easy to operate, and small in weight (about 200g); simple in structure, easy to process, and low in cost (about 1,000 yuan); efficient in wireless signal transmission; high in precision, and easy to measure The force accuracy can reach 0.3N, and the torque measurement accuracy can reach 0.01Nm; the measurement range is large, the force measurement range: 0-30N, and the torque measurement range: 0-0.7Nm.

Description of drawings

1 is a schematic diagram of the application of the colonoscope force and torque measurement sensor shown in Example 1.

Fig. 2 is a schematic diagram of the assembly of the colonoscope force and torque measuring sensor and the colonoscope hose shown in Example 1.

FIG. 3 is a main sectional view of the colonoscope force and torque measuring sensor shown in Embodiment 1. FIG.

4 is a left sectional view of the colonoscope force and torque measuring sensor shown in Embodiment 1.

FIG. 5 is a schematic diagram of the colonoscope force and torque measurement sensor shown in Embodiment 1 when the outer sleeve is opened.

FIG. 6 is a schematic structural view of the inner and outer sleeves of the colonoscope force and torque measurement sensor shown in Embodiment 1. FIG.

Fig. 7 is a structural schematic diagram of the lower half of the outer sleeve of the colonoscope force and torque measuring sensor shown in Embodiment 1.

Fig. 8 is a schematic diagram of locking the inner sleeve on the colonoscope hose in the colonoscope force and torque measuring sensor shown in Embodiment 1.

FIG. 9 is a structural schematic diagram of the locking mechanism and the lower half of the inner sleeve in the colonoscope force and torque measuring sensor shown in Embodiment 1. FIG.

FIG. 10 is a schematic structural view of the elastic body in the colonoscope force and torque measurement sensor shown in Example 1. FIG.

Among them, 1 is the locking upper cover, 2 is the peep hole in the upper half of the outer sleeve, 3 is the upper half of the outer sleeve, 4 is the battery charging hole, 5 is the lower half of the outer sleeve, 6 is the locking lower cover , 7 is the colonoscope hose, 8 is the switch, 9 is the wire, 10 is the battery, 11 is the battery cover, 12 is the circuit board cover, 13 is the circuit board, 14 is the elastic body, 15 is the second outer sleeve Tank body, 16 is the outer sleeve rotating rod, 17 is the locking mechanism rotating rod, 18 is the upper half of the inner sleeve, 19 is the fourth groove body of the outer sleeve, 20 is the motor charging hole, 21 is the second outer sleeve A tank body, 22 is a bolt, 23 is a locking mechanism, 24 is a movement shaft, 25 is an inner sleeve rotating rod, 26 is an elastic cover plate, 27 is the lower half of the inner sleeve, 28 is a motor, 29 is a motor Cover plate, 30 is the screw, 31 is the ball, 32 is the first groove of the inner sleeve, 33 is the cross beam, 34 is the sensing rod, 35 is the first semiconductor strain gauge, 36 is the second semiconductor strain gauge, 37 is the outer Sleeve the 3rd groove body, 38 is wire groove.

detailed description

The present invention will be described in further detail below in conjunction with the embodiments shown in the accompanying drawings.

Example 1

As shown in Fig. 2 to Fig. 4, a kind of novel colonoscope force and torque measuring sensor comprises inner sleeve upper half 18, inner sleeve lower half 27, outer sleeve upper half 3, outer sleeve lower half Part 5, locking upper cover 1, locking lower cover 6, cross beam 33, motor 28, sensing rod 34, etc.; the cross beam 33 and sensing rod 34 form an elastic body 14, and the upper half of the outer sleeve Part 3 and the outer sleeve lower half 5 form an outer sleeve, the front side of the outer sleeve upper half 3 and the front side of the outer sleeve lower half 5 are connected by bolts, and the outer sleeve The rear side of the sleeve upper half 3 and the rear side of the outer sleeve lower half 5 are connected by an outer sleeve rotating rod 16; the inner sleeve is located inside the outer sleeve, and the upper half of the inner sleeve The front side of part 18 is connected by bolts with the front side of inner sleeve lower half 27, the rear side of said inner sleeve upper half 18 is connected with the rear side of inner sleeve lower half 27 by inner sleeve rotating rod 25 connect.

In order to facilitate the one-handed operation of the doctor, the lower half of the inner sleeve 27 and the locking lower cover 6 adopt an integrated design, and the front side of the locking upper cover 1 and the front side of the locking lower cover 6 pass through the lock. Tightening mechanism rotating bar 17 is connected, and the rear side of described locking upper cover and the rear side of locking lower cover are connected by screw rod 30, and locking lower cover 6 inside also comprises motor 28, and the bottom of screw rod 30 is connected with motor 28. When the motor rotates forward, the screw rod will be tightly connected to the locking upper cover, so that the locking mechanism contacts and locks the colonoscope hose, and the locking mechanism acts as a handle in a locked state. When the motor reverses, the screw rod and the locking upper cover are released, so that the locking mechanism and the colonoscope hose are released, and the handle is in a slidable state, as shown in Figure 9.

As shown in FIG. 10 , in order to accurately reflect the stress situation, the elastic body is composed of a cross beam 33 , a sensing rod 34 and a semiconductor strain gauge. The cross beam is arranged in the third groove of the outer sleeve, a pair of first semiconductor strain gauges 35 for force measurement are arranged on the left and right beams of the cross beam, and a pair of second semiconductor strain gauges 35 for torque measurement are arranged on the front and rear two beams. Strain gauge 36. The overall shape of the sensing rod 34 is a cube, its cross section is square, and it is located at the intersection of the cross beams. As shown in FIG. 9 , the outer side of the inner sleeve is provided with a first groove body 32 of the inner sleeve connected to the upper end of the sensing rod 34 .

As shown in Figures 5-7, the shape of the upper half 3 of the outer sleeve and the lower half 5 of the outer sleeve is fan-shaped, and the cross-sectional area of the lower half 5 of the outer sleeve is equal to that of the outer sleeve. The cross-sectional area of the upper half of the barrel 3. The concave surface of the upper half of the outer sleeve is provided with the first groove body 21 of the outer sleeve, the wire groove 38 and the second groove body 15 of the outer sleeve, and the wire groove 38 is formed from the first groove body of the outer sleeve. The rear end of 21 starts to extend to the front end of the second groove body 15 of the outer sleeve. The first groove body 21 on the outer sleeve is provided with a switch 8 , the inside of the wire groove 38 is provided with a wire 9 , and the second groove body 15 of the outer sleeve is provided with a battery 10 . A peep hole 2 is provided at the front end of the first tank body 21 on the outer sleeve, and a charging hole 4 is provided at the rear end of the second tank body 15 at the upper half of the outer sleeve. The concave area of the lower half of the outer sleeve is provided with a third groove body 37 and a fourth groove body 19 of the outer sleeve. The elastic body 14 is arranged in the third groove body 37 of the outer sleeve, and the circuit board 13 is arranged in the fourth groove body 19 of the outer sleeve. The first groove body 21 of the outer sleeve, the second groove body 15 of the outer sleeve, the third groove body 37 of the outer sleeve and the fourth groove body 19 of the outer sleeve are all square in shape.

The invention adopts the principle of resistance strain type force measurement to realize the measurement of the operating force exerted by the doctor on the colonoscope hose. When using the sensor, the colonoscope flexible tube 7 is first inserted into the sensor inner sleeve, and the sensor inner sleeve is fixed on the colonoscope flexible tube 7 by the locking mechanism 23 . The external force sensor and the colonoscope hose have two states of locking and loosening. By controlling the positive and negative rotation of the motor 28, thereby changing the screw-in distance of the screw rod 30 in the threaded hole, the distance between the locking upper cover 1 and the locking lower cover 6 can be controlled, and then the locking mechanism 23 and the hose can be controlled. 7 between locked and released states. When the doctor holds the upper part 3 of the outer sleeve and the lower part 5 of the outer sleeve with his hands, and applies a push-pull force back and forth to the sensor, the inner sleeve and the outer sleeve will produce relative movement in the front-back direction, and the elastic The upper end of the body is located in the first groove body 32 of the inner sleeve, and the lower end is located in the third groove body 37 of the outer sleeve. At this time, the cross beam 33 of the elastic body 14 is equivalent to a "cantilever beam", the upper end is fixed, and the lower end is stressed. , so as to produce deformation, the electric bridge formed by the first semiconductor strain gauge 35 of force measurement will convert the front and rear push and pull forces into voltage signals; The lower half of the cylinder 5, and when the sensor is applied clockwise or counterclockwise torque, the sensing rod will also produce corresponding deformation, and the electric bridge composed of the second semiconductor strain gauge 36 for torque measurement will turn clockwise and counterclockwise The torque is converted into a voltage signal. As shown in Figure 1, the measured voltage signal is processed by the Bluetooth sending device, and the signal is input to the computer for further processing and display. In this way, the measurement of the operating force applied by the doctor to the colonoscope hose is completed. When installing the sensor, the upper end of the sensing rod 34 should be aligned with the first groove body 18 of the inner sleeve. At this time, the alignment situation can be observed with the help of the peep hole 2, so as to facilitate accurate installation and positioning, and finally through the outer sleeve Rotating bar 16 and front end bolt 22 are connected outer sleeve upper half 3 and outer sleeve lower half 5. The sensor can also be used in other endoscopic applications, such as animal endoscopic surgery, industrial endoscopic inspection, etc.

The above description of the embodiments is for those of ordinary skill in the art to understand and apply the present invention. It is obvious that those skilled in the art can easily make various modifications to these embodiments, and apply the general principles described here to other embodiments without creative effort. Therefore, the present invention is not limited to the embodiments herein. Improvements and modifications made by those skilled in the art according to the disclosure of the present invention without departing from the scope of the present invention should fall within the protection scope of the present invention.

Claims (9)

1. a kind of colonoscope force and torque measurement sensor, comprise the inner sleeve that is made up of inner sleeve upper half (18) and inner sleeve lower half (27), by outer sleeve upper half (3) and The outer sleeve composed of the lower part (5) of the outer sleeve, the locking mechanism composed of the locking upper cover (1) and the locking lower cover (6), and an elastic body (14), the locking mechanism and The rear end of the inner sleeve is connected, and the inner sleeve is located in the outer sleeve, and it is characterized in that the elastic body (14) is located at the inner rear end of the outer sleeve, and is composed of cross beams (33), semiconductor strain gauges and transducers. Composed of sensing rods (34), the semiconductor strain gauges are pasted on the four beams of the cross beam (33), and the bottom ends of the sensing rods (34) are connected to the intersections of the cross beams (33), and the sensing The upper end of rod (34) joins with inner sleeve. 2. A kind of colonoscope force and torque measuring sensor according to claim 1, characterized in that said sensing rod is a cube. 3. colonoscope force according to claim 1 and torque measurement sensor, it is characterized in that described locking mechanism also comprises motor (20), the front side of described locking upper cover (1) and locking lower cover ( 6) The front side is connected by a rotating rod (17), the rear side of the locking upper cover (1) and the locking lower cover (6) are connected by a screw (30), and the motor (20) is located at Lock the inside of the lower cover (6), and the bottom of the screw rod (30) is connected with the motor (20). 4. The colonoscope force and torque measuring sensor according to claim 1, characterized in that the locking lower cover (6) is integrated with the lower half of the inner sleeve (27). 5. colonoscope force according to claim 1 and torque measurement sensor, it is characterized in that: the shape of described outer sleeve upper half (3) and described outer sleeve lower half (5) is fan-shaped, so The cross-sectional area of the lower half (5) of the outer sleeve is equal to the cross-sectional area of the upper half (3) of the outer sleeve. 6. colonoscope force according to claim 1 and torque measuring sensor, it is characterized in that: the concave surface of described outer sleeve upper part (3) is provided with outer sleeve first groove body (21), guide wire groove (38) and the second groove body (15) of the outer sleeve, the wire groove (38) extends from the rear end of the first groove body (21) of the outer sleeve to the second groove of the outer sleeve The front end of the body (15); the first groove body (21) of the upper half of the outer sleeve is provided with a switch (8), and the inside of the wire groove (38) is provided with a wire (9), and the first half of the outer sleeve upper part is provided with a switch (8). The second tank body (15) is provided with a battery (10). 7. colonoscope force and torque measuring sensor according to claim 6, is characterized in that: the front end of the first groove (21) of the upper part of the outer sleeve is provided with a peep hole (2), on the outer sleeve A charging hole (4) is provided at the rear end of half of the second tank body (15). 8. colonoscope force according to claim 1 and torque measuring sensor, it is characterized in that: the outside of described inner sleeve is provided with inner sleeve first groove body (32), inner sleeve first groove body (32) ) is in contact with the sensing rod. 9. The colonoscope force and torque measuring sensor according to claim 1, characterized in that: the concave area of the outer sleeve lower part (5) is provided with the third groove body (37) of the outer sleeve and the outer sleeve The fourth groove body (19) of the sleeve, the elastic body (14) is arranged in the third groove body (37) of the outer sleeve, and the circuit board (13) is arranged in the fourth groove body (19) of the outer sleeve.