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1. 发明申请

US20100022918A1 SENSING SYSTEM EMPLOYING MEDICAL MANIPULATOR AND PRESSING FORCE MEASURING DEVICE AND ITS PROGRAM 审中-公开
标题翻译：使用医疗操作员和压力测量装置的感应系统及其程序
公开(公告)号：US20100022918A1
公开(公告)日：2010-01-28
申请号：US12442812
申请日：2007-03-28
申请人： Masakatsu FUJIE , Haruna OKAMOTO , Jun OKAMOTO
发明人： Masakatsu FUJIE , Haruna OKAMOTO , Jun OKAMOTO
IPC分类号： A61B5/103
CPC分类号： A61B17/32 , A61B17/0218 , A61B34/70 , A61B90/06 , A61B2017/00557 , A61B2017/320048 , A61B2090/065
摘要： Sensing of the pressing force of a balloon against internal body tissues is made possible using the balloon inserted into a gap in the body and pressing the internal body tissues around that gap without inserting a sensor, or the like, separately into the gap. A sensing system comprises an surgical assist manipulator provided to be able to travel by a reaction produced while it pressure-displaces the internal body tissues, a pressure sensor for measuring the pressure of fluid used to operate the surgical assist manipulator, and a pressing force measuring device for determining a pressing force applied to the internal body tissues by the surgical assist manipulator based on the measurement by the pressure sensor. The surgical assist manipulator includes a balloon which can be expanded/contracted by fluid being supplied internally, and the pressing force measuring device determines a function employing the internal pressure when the balloon is pressed as a parameter based on the measurement of fluid amount supplied to the balloon, and determines the pressing force by substituting the internal pressure at pressing measured by the pressure sensor into that function.
摘要翻译：通过使用插入到身体的间隙中的气囊来感测气囊抵靠内部身体组织的按压力，并且将内部身体组织围绕该间隙按压，而不将传感器等分开插入到间隙中。感测系统包括外科辅助操纵器，其被设置成能够通过在对内部身体组织进行压力移动时产生的反应而行进，用于测量用于操作外科辅助机械手的流体的压力的压力传感器，以及压力测量用于基于由所述压力传感器的测量来确定由所述外科辅助机械手施加到所述内部身体组织的按压力的装置。手术辅助机械手包括可以由内部供应的流体进行膨胀/收缩的气囊，并且当压缩气囊被作为参数时，按压力测量装置确定使用内部压力的功能，其基于向供给到气球，并且通过将由压力传感器测量的压力下的内部压力代入该功能来确定按压力。

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