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Human tissue model parameter online identification method applicable to minimally invasive surgery

A technology of human tissue and model parameters, which is applied in the fields of electrical digital data processing, special data processing applications, instruments, etc., can solve the problems of increasing the cost of surgery for patients, increasing the cost, and increasing the cost of minimally invasive surgical instruments.

Inactive Publication Date: 2015-02-25
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The size of minimally invasive surgical instruments is generally small, and the circumference diameter of surgical instruments is generally less than 10mm. At present, there is no such small force-torque sensor commercially available.
In addition, even if there are corresponding force-torque sensors for sale with the continuous advancement of technology in the future, it will cost more to realize the mechanism and circuit to manufacture such a small and exquisite sensor, which will inevitably increase the cost of minimally invasive surgical instruments. The cost of these surgical instruments ultimately increases the cost of surgery for the patient

Method used

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  • Human tissue model parameter online identification method applicable to minimally invasive surgery
  • Human tissue model parameter online identification method applicable to minimally invasive surgery
  • Human tissue model parameter online identification method applicable to minimally invasive surgery

Examples

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Embodiment

[0051] A method for online identification of human tissue model parameters suitable for minimally invasive surgery, the method comprising the following steps:

[0052] Step 1: Establish a human tissue analysis calculation model;

[0053] Step 2: Design a method for detecting the force of human tissue based on the force-torque sensor;

[0054] Step 3: Based on the model established in step 1, construct an online detection method for model parameters, and calculate and obtain human tissue parameters;

[0055] In the step 1, a linear Kelvin-Voigt model or a nonlinear Hunt-Crossley model of human tissue is established according to the actual design requirements of the compliance controller of the minimally invasive surgical instrument. The linear Kelvin-Voigt model is the simplest way to describe the mechanical impedance of human tissue. The model compares human tissue to an elastic body composed of ideal viscoelastic materials, and the specific dynamic characteristics are repre...

specific Embodiment

[0081] Specific embodiments: the following takes the linear Kelvin-Voigt model of human tissue as an example to illustrate the online identification process of model parameters without using a force-torque sensor. The human tissue model is expressed by formula (1):

[0082] F ( t ) = Kx ( t ) + B x · ( t ) , x ≥ 0 0 , x 0 ...

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Abstract

The invention relates to a human tissue model parameter online identification method applicable to minimally invasive surgery. The method comprises the first step of building a human tissue analysis calculation model, the second step of designing a human tissue acting force detection model based on a weakness-torque sensor and obtaining contact force signals according to the detection model, and the third step of building a human tissue model parameter online detection method according to the calculation model built in the first step and the contact force signals obtained in the second step, and obtaining human tissue parameters by calculation. Compared with the prior art, the method has the advantages of being high in identification precision, simple in structure, low in cost, easy to popularize and the like.

Description

technical field [0001] The invention relates to an online identification method of human tissue model parameters, in particular to an online identification method of human tissue model parameters suitable for minimally invasive surgery. Background technique [0002] Minimally invasive surgical robotic systems can significantly improve the surgeon's flexibility in surgical operations. This type of minimally invasive surgical procedure usually adopts the slender laparoscope and minimally invasive surgical instruments to enter the lesion area of ​​the patient through a small incision on the patient's body surface. During this process, dexterous surgical instruments are used to cut and suture the patient's lesion tissue, which facilitates the operation of endoscopic surgery. The surgical operation instrument can effectively reduce the operation risk of the patient and shorten the operation time. [0003] In order to accurately implement minimally invasive surgical instruments ...

Claims

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Application Information

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IPC IPC(8): G06F19/00
Inventor 李红兵胡玥
Owner SHANGHAI JIAO TONG UNIV
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