Source: https://patents.google.com/patent/DE102012007892A1/en
Timestamp: 2020-01-23 05:17:35
Document Index: 478433400

Matched Legal Cases: ['art 21', 'art 21', 'art 21', 'art 21', 'art 21', 'art 21', 'art 21', 'art 21', 'art 21', 'arts 44', 'arts 44']

DE102012007892A1 - bend sensor - Google Patents
DE102012007892A1
DE102012007892A1 DE201210007892 DE102012007892A DE102012007892A1 DE 102012007892 A1 DE102012007892 A1 DE 102012007892A1 DE 201210007892 DE201210007892 DE 201210007892 DE 102012007892 A DE102012007892 A DE 102012007892A DE 102012007892 A1 DE102012007892 A1 DE 102012007892A1
DE201210007892
Jérome Carrard
2011-04-28 Priority to DE102011017704.3 priority Critical
2011-04-28 Priority to DE102011017704 priority
2012-04-23 Application filed by Storz Endoskop Produktions GmbH filed Critical Storz Endoskop Produktions GmbH
2012-04-23 Priority to DE201210007892 priority patent/DE102012007892A1/en
2012-10-31 Publication of DE102012007892A1 publication Critical patent/DE102012007892A1/en
The invention relates to a bending sensor (1) for measuring a deflection of a technical or medical instrument consisting of an elongate body (2) made of electrically insulating polymer material having a longitudinal axis (4) and with fibers (5) embedded in the body made of an electrically conductive material polymer material. The fibers (5) are arranged substantially parallel to the longitudinal axis and spaced apart in the polymer body (2). A measuring unit (7) is provided, which is connected to the fibers (5) and is suitable for evaluating the change in the electrical resistances of the fibers (5) as a measure of the deflection of the body (2) from the longitudinal axis (4).
The invention relates to a bending sensor for measuring a deflection consisting of an elongate body made of electrically insulating polymer material with embedded fibers in the body of an electrically conductive polymer material.
The invention further relates to a medical and / or endoscopic instrument and a medical holding arm with a bending sensor of the aforementioned type.
Bend sensors are used in many applications to determine the deflection of an object out of its longitudinal axis, and often use electrically conductive materials to measure the direction or magnitude of displacement through a change in resistance, capacitance, or inductance. The bendable or deflectable objects are for example technical or medical instruments. Whenever two sections of an object form a variable angle with each other, bending sensors can be used to measure the bend.
In medical technology and medical or technical endoscopy, bending sensors are also used to determine the position and deflection of flexible or bendable instruments. Particularly in the case of flexible endoscopes, it has become customary to configure the distal end in such a way that it can be deflected via a hand control or motor-driven. In order to be able to precisely control the instrument in narrow spaces and body cavities, the deflection of the instrument introduction part, in particular of the distal end, should be detected as precisely as possible. It is necessary that the bending sensors used measure the deflection along an X and Y axis. Since the instruments often have a small diameter and therein already light guide, image guide, working channels, Bowden cables or the like are housed, the bending sensors and their contacts and the required electrical lines may occupy little space.
From the US 6,201,468 B1 a bending sensor is known for use in joysticks, with a resilient and electrically insulating body, in which a central strand and several surrounding strands of conductive rubber are embedded. Between the surrounding and the central strand is in each case a gap, which is closed successively only at the bend of the sensor. The contact area between the surrounding and the central strand and the electrical resistance measured in this case correspond to the direction and the degree of bending of the sensor.
A disadvantage of this known bending sensor is that gaps must remain between the strands, which leads to a larger sensor and requires a particularly accurate production with a small size. Also, the signal generated via the contact surface does not exactly reproduce the bending of the sensor, especially with large bending angles.
From the US 5,728,044 A For example, there is known a flexible rod for insertion into working channels of flexible medical instruments, on the surface of which a plurality of bending sensors are attached in order to determine a deflection of the medical instrument and thus of the rod on the basis of the electrical signals generated by the sensors.
This design has the disadvantage that several sensors must be used to detect movements in different spatial directions. Each sensor requires its own electrical wiring, which also requires space. Also, the flat bending sensors used are only suitable for measuring bends in one direction, the sensor does not bend in the direction of its narrow longitudinal side. They are also less flexible than the rod on which they are attached, resulting in erroneous measurement signals. Furthermore, this known rod is not protected against torsion, which affects the measurement of the deflection. Additional torsional sensors are needed to account for possible rod twisting.
On this basis, the present invention seeks to provide an improved bending sensor, which is easy to manufacture and allows accurate measurement. It is a further object of the invention to provide a medical and / or endoscopic instrument or a medical support arm with an improved bending sensor, so that a deflection can be detected accurately.
The terms curvature, bending, angulation, and deflection are used alternatively and refer to the bend of the sensor or object to which the sensor is attached from its longitudinal axis. It is understood that also the difference between two deflected or bent states can be designated in this way.
According to the invention, these objects are achieved by the features of claims 1, 14 or 15. Advantageous developments are the subject of the dependent claims.
A bending sensor according to the invention has an elongate body of electrically insulating polymer material in the fibers embedded electrically conductive polymer material. The fibers are arranged substantially parallel to each other and spaced apart in the body. The spaces between the fibers are filled by the insulating polymer material. The flexure sensor preferably has a cross-section that is approximately round or square or has another shape that has a similar extension at least along its axes of symmetry, thus allowing flexible and even flexing of the sensor in many directions without a direction due to geometry to prefer.
By determining the change in the electrical resistances of two fibers by means of a measuring unit connected to the fibers, deflection of the sensor from its longitudinal axis in the plane in which the two fibers lie can be easily and reliably detected. The change in the electrical resistance of the fibers is approximately proportional to the degree of deflection and can be measured accurately. The polymer of the body and the polymer of the fibers may be an elastomer, for example a silicone or the like. The flexibility of the sensor body is preferably comparable to that of the fibers. The fibers are separated by the body and do not touch.
Such a bending sensor according to the invention with polymer body and completely or partially embedded fibers can moreover be produced easily by coextrusion and in any desired length. The cross-section of the fibers can take on any shape and, for example, be round or oval or have the shape of a circle segment.
Due to the simple and inexpensive design of the bending sensor according to the invention a variety of applications is conceivable. It can also be used as a redundant sensor for a high-precision bending sensor in robotics, providing additional safety there. Also, the application in biomechanics is conceivable to measure the movement of living body and understand.
In a preferred embodiment of the invention, the bending sensor according to the invention has at least four fibers, which are arranged circumferentially offset by approximately 90 ° to each other. With four fibers attached in this way, it is possible to detect a deflection both along an X axis perpendicular to the longitudinal axis of the bending sensor and in a Y direction orthogonal thereto in two opposite directions. Of course, all other bends are measured correctly, which are composed in their direction of an X and a Y-share. It is not necessary to use multiple sensors to detect all these directions. The bending sensor can also measure curvatures with a large bending angle of more than 180 ° due to its inventive design.
According to a further advantageous embodiment, means for stiffening the sensor are provided on the bending sensor, which restrict or prevent a rotation of the bending sensor about its longitudinal axis. These may be any means that completely or almost completely inhibit the torsion but at the same time do not interfere with the bending of the sensor body.
Advantageously, the bending sensor for this purpose along its longitudinal axis at least partially enclosed by a voltage applied to his body braided tube. The braided hose according to the invention may consist of a polyamide, for example of nylon fibers, glass, carbon or polyaramid and applied to the body or also be glued to the body. The braided tube according to the invention may also be a braided layer which is co-extruded onto the sensor during production and does not constitute a separate part.
Through the braided hose is successfully prevented that the bending sensor is rotated about its longitudinal axis. This makes expensive torsion sensors or the like, which detect an unwanted rotation to allow a correction of the measurement signal, superfluous. Thus, a correct operation of the bending sensor can be ensured with a simple and inexpensive measure. In addition, the braided hose has the property of protecting the sensor body against mechanical stress and / or of electrically insulating it to the outside where no electrical connection with other components is desired.
In a preferred embodiment, the diameter of the bending sensor over its entire length is substantially less than one millimeter. Due to the special design of the bending sensor, it is possible to produce it in such small dimensions that it can be easily integrated into various medical and / or endoscopic instruments.
Only with this small diameter, it is also possible to use the bending sensor, for example in flexible endoscopes, where in the shaft due to the many other existing components such as glass fibers or working channels only little space is available. Especially in medical technology, the instruments must be inserted through narrow body openings, so that in Shank cross section only a few square millimeters are available.
According to a further preferred embodiment, electrical lines are provided which contact the fibers in the region of the fiber ends. These lines establish an electrical connection of the fibers with each other and with the measuring unit in order to detect the change in resistance in the fibers as a measure of the deflection.
In each case, preferably two of the fibers and the electrical lines together with the measuring unit form an electrical circuit, which is referred to as Wheatstone bridge and is known in the art. The variable electrical resistances are formed by the fibers. The necessary reference resistors are housed, for example, in the measuring unit. Thus, the detection of a deflection of the bending sensor from its longitudinal axis is possible. For the desired detection of deflections along the X and Y axes perpendicular to the longitudinal axis of the sensor, two such circuits are combined and the fibers are electrically contacted accordingly. By outsourcing the reference resistors into a measuring unit, space can be saved in the sensor and in the device in which the sensor is used.
According to a further advantageous embodiment of the bending sensor, the fibers are at least partially on the surface of the body. With this arrangement, it is particularly easy to electrically contact the fibers, since they are not completely electrically insulated to the outside by the polymer body.
According to a further advantageous embodiment, the electrical leads are at least partially embedded in the electrically insulating polymer material of the body. This has the advantage that the lines are guided inside the body and thus do not increase the diameter of the sensor. A particularly compact design is made possible.
The electrical leads may be, for example, wires that are routed through the body and each preferably connected to the fibers at the fiber ends, respectively.
More preferably, the electrical leads may include additional body-embedded fibers of the conductive polymer material. These are largely electrically isolated from the fibers used to detect bending through the body and are electrically interconnected only at the fiber ends. According to the invention, such a sensor body can be coextruded with all the necessary polymer fibers in one piece and thus produced particularly easily.
The electrical connection to the fiber ends can advantageously be made by wires or micro-nails, which are inserted into the fibers and interconnect the various fibers according to the circuit. Various other types of contacting are conceivable. If the fibers are partially on the surface of the body, the contacting can be done via the outside of the sensor.
In a further particularly suitable embodiment, the body is provided along its longitudinal axis with a channel which may for example run centrally through the body, wherein the electrical leads are at least partially guided through the channel. In this way, the lines can be laid even after production of the sensor body in a simple manner and space-saving.
A particularly simple and the inventively small diameter of the bending sensor adapted contacting takes place according to a further embodiment of flexprints. The word Flexprint refers to flexible printed circuit boards with printed conductors. These circuit boards are made of a flexible plastic, for example, and can be shaped well to completely or partially enclose the bending sensor at the fiber ends. According to the circuit, contacts provided on the flexprints are connected directly to such fibers, which lie partly on the surface of the body, but are otherwise embedded in the sensor body. Portions of the flexprints may also be routed through the channel to the proximal end of the sensor where they are connected to appropriate leads to the measuring unit.
The fibers and / or the flexprints are provided in a further development of the bending sensor according to the invention with depressions in which projections of the other component flexprint or fiber intervene to ensure secure contact and avoid slippage, and also the flexprints as closely as possible to the bending sensor to be accepted
In a further advantageous embodiment, a heat shrink tubing is provided on the outside, which surrounds the bending sensor over the entire length or partially to hold all the components of the bending sensor, such as sensor body, braided hose and electrical lines in the correct position and slipping even with deflection of the Bending sensor to avoid. It may also be two or more shrink tubing parts, in particular at each of the ends of the sensor be attached. This provides a space-saving means to securely hold the components together. In order to be able to easily check the correct contacting during production, the shrinking tube is preferably designed to be transparent.
Due to its compact design and possible small dimensions of the bending sensor according to the invention is particularly suitable to be used in medical and / or endoscopic instruments, such as flexible endoscopes. An instrument according to the invention has an insertion part, with at least one flexibly formed section, wherein the bending sensor is arranged in the region of this flexible section in the insertion part in order to measure a deflection of the insertion part with the aid of the bending sensor.
In other instruments, which have a small diameter shaft due to their requirements, such as flexible forceps, catheters or other medical instruments, the bending sensor can be used advantageously and allow precise control of the shaft deflection. Of course, several flexible sections may be provided on the insertion part, which are each provided with a bending sensor.
According to a further advantageous embodiment, the bending sensor is completely enclosed by the insertion part. In this way, the outer structure of the insertion of the instrument remain the same, for example, includes various hoses, meshes and Bowden cables. It must be provided only in the interior of the insertion space for the bending sensor, which is possible due to its small dimensions according to the invention. This allows a simple modular retrofitting of the sensor into existing instruments, without the need for costly redesigns of the instruments. The sensor is housed safely and protected in the shaft. The electrical leads are preferably guided by the bending sensor through the insertion part to the proximal end of the instrument, where they are connected to the measuring unit.
In a further advantageous embodiment of a medical and / or endoscopic instrument according to the invention, a motor unit is provided which communicates with the flexible portion of the instrument in order to effect a deflection of the insertion part. The measuring unit and the motor unit are connected to each other via signal lines for transmitting a signal as a measure of the deflection.
This now has the advantage that a motor-driven deflection of the flexible portion can be measured, and that the signals generated by the measuring unit can be used by feedback to the motor unit in order to control the motor deflection improved. The deflected position of the medical and / or endoscopic instrument is thereby accurately detected and provides information about whether the motor deflection must be corrected. This represents a significant improvement of the entire instrument, as a more precise work with the insertion part is made possible, which is particularly important in medical technology of great importance.
Equally advantageous is the use of a bending sensor according to the invention in a medical holding arm, in which at least one articulated section is provided. In this case, the bending sensor according to the invention is arranged in this section in order to measure a deflection of the holding arm. Again, feedback is provided on the actual deflection and position of the support arm, allowing the user to reliably align the support arm, particularly using motors. Of course, several articulated sections may be provided with a plurality of bending sensors. Also conceivable is an application in medical robotics, where bending sensors for detecting alignment and movement are particularly important. Since the bending sensor according to the invention is particularly easy and inexpensive to manufacture, a larger number of sensors can be easily provided.
The features mentioned above and those yet to be explained below can be used not only in the respectively specified combination but also in other combinations or in isolation, without departing from the scope of the present invention.
The described invention is characterized by an elongated flexible bending sensor made of electrically insulating plastic, are introduced into the elongated fibers of electrically conductive plastic. The fibers are approximately parallel to the longitudinal axis of the sensor. A bending of the sensor leads to a change in the electrical resistances in the fibers, which is detected by a measuring apparatus. This is electrically connected for this purpose with the fibers of the sensor. The electrical circuit of the fibers with the components of the measuring apparatus advantageously corresponds to a Wheatstone bridge. The bending sensor according to the invention is characterized by a compact and simple construction, wherein a bend is reliably and reliably detected. There may further be provided means for stiffening the sensor, which make the sensor dimensionally stable against rotation about the longitudinal axis.
Embodiments of the invention are illustrated in more detail in the drawings and are explained in more detail in the following description. Show it:
1 a schematic diagram of the bending sensor according to the invention with a measuring unit
2 the bending sensor with braided hose
3 the bending sensor according to a first embodiment
4 the bending sensor according to a second embodiment
5 the bending sensor according to a third embodiment
6 the bending sensor with heat shrink tubing
7 an endoscopic instrument with bending sensor
8th the endoscopic instrument with bending sensor in cross section along the line AA 7
9 a schematic diagram of the bending sensor in conjunction with a measuring unit and a motor unit
10 a medical support arm with bending sensor
11 the bending sensor according to another embodiment.
1 schematically shows a bending sensor according to the invention 1 with a body 2 of electrically insulating polymer and four fibers embedded therein 5 made of electrically conductive polymer, which are circumferentially offset by approximately 90 ° from each other and spaced from each other. In the examples presented below, the body consists of a silicone, the fibers consist of an electrically conductive silicone-elastomer mixture. The electrical conductivity of the plastic is achieved for example by the addition of nanoparticles of an electrically conductive material such as silver or graphite. The fibers 5 be in the range of fiber ends 6 of electrical wires 9 contacted the bending sensor 1 with a measuring unit 7 connect. In 1 is exemplary only one of the electrical lines 9 shown.
Will the bending sensor 1 curved and thus out of its longitudinal axis 4 deflected, the electrical resistance in the conductive polymer fibers changes 5 with the degree of curvature. This change will be in the measurement unit 7 detected. This will be shown later in more detail. This allows two opposite fibers 5 the determination of the curvature in one plane, the two other fibers 5 the determination of the curvature in a plane perpendicular to it. The actual curvature of the bending sensor 1 results from the combination of these two measurements. In this way, according to the invention, bends can be detected correctly, simply and reliably in all directions.
The in 2 illustrated bending sensor 1 is along its longitudinal axis 4 from a braided hose 8th Surrounded with the surface 3 of the body 2 connected is. In particular, a reticulated braided tube of nylon or other material is soaked with silicone or polyurethane resin and applied to the body 2 applied. In this way, a twisting of the body 2 limited or prevented by its longitudinal axis, which could distort the measurements of the deflection. The fibers 5 so preferably extend parallel to the longitudinal axis 4 of the body 2 of the bending sensor 1 ,
The 3 shows the bending sensor according to a first embodiment, in which the four fibers 5 on the outer surface 3 of the body 2 are arranged. This allows a direct connection of the contacts 11 the electrical wires 9 with the fiber ends 6 on the outside of the body 2 , As shown here, the electrical wires include 9 four additional conductive polymer fibers 16 in addition to the fibers 5 in the body 2 are embedded and run essentially parallel to these. In this way, the bending sensor with the fibers 5 which form variable resistances for measurement of deflection, and additional fibers 16 be coextruded for the electrical line in one piece and so particularly fast and easy and can be produced in any length. There are no lines outside the body 2 of the bending sensor 1 along the necessary diameter of the bending sensor 1 further reduced.
The electrical wires 9 for connection to the measuring unit 7 only grip on one end of the sensor body 2 on, shown here on the left. This has the advantage that all lines 9 in one direction from the sensor 1 away to the measurement unit 7 can be performed. In particular, when used in an endoscope so easy all lines from the proximal end of the bending sensor 1 to the proximal end of the endoscope and to the measuring unit 7 to lead. At the other end, shown here on the right, there just has to be a connection between the measuring fibers 5 and the additional fibers 16 be ensured. This can be done via various measures known to the person skilled in the art, for example, with microclamps of metal, which are stung into the polymer material and thus create a mechanically and electrically secure connection. Particularly advantageous, however, is the connection via flexprints 10 because they are particularly flat and tight around the sensor body 2 can be created. The on the flexprints 10 provided interconnects then provide the electrical connection between the different fibers 5 and 16 of the bending sensor 1 ago.
Also shown is the interconnection of the fibers 9 and the additional fibers 16 with the reference resistors R to a Wheatstone bridge. A change in the electrical resistances of the fibers 5 relative to the reference resistors R, as indicated by a bend in the bending sensor 1 in the electrically conductive fibers 5 caused, leads to the change of a signal voltage U x or U y , which is a deflection of the bending sensor 1 in an X or Y plane, respectively. The signal voltages U x and U y provide information about the degree of deflection from the longitudinal axis 4 , You also specify the X and Y components of the displacement. The reference resistors may be in the measuring unit, for example 7 be arranged, which also detects the signal voltages and evaluates. The reference resistors may be equal or different in size, the same resistors may serve as a reference for both directions, or different reference resistors may be provided for the X and Y measurements.
The additional fibers 16 can also contribute to the measurement signal by their own resistance change during bending.
It is also possible by suitable electrical interconnection of the conductive fibers 5 and 16 a bending sensor according to the invention with only two additional polymer fibers 16 to realize, so with a total of six conductive fibers.
In another in 11 illustrated embodiment of the bending sensor 1 are only four conductive fibers 5 provided, once by their bending variable resistance of the measurement of the deflection from the longitudinal axis 4 Serve and once the electrical connection with the electrical leads 9 or as part of these supply lines. This is the sensor 1 at the contacting end (shown on the left) at the fiber ends 6 each with changeover switches 17 connected, preferably with electronically equal-clocked semiconductor switches, which are also linked together. In a first position the switch 17 For example, the current flows through those fibers 5 , which are used to measure the displacement along the X-axis. The electrical connection of these measuring fibers with the supply lines 9 then takes place via at least one in this position not used for the measurement fiber, which is assigned to the detection of the deflection in the Y direction. In a second position the switch 17 , shown here by dashed lines, the resistance change of the intended for the measurement of the Y-deflection fibers is detected analogously and at least one fiber, which is assigned to the measurement in the X direction, as an electrical line 9 used. By permanently switching quickly between the first and the second position, both directional components X and Y of the deflection by means of capacitors 18 be measured almost simultaneously.
At the switches 17 opposite end of the bending sensor 1 become the fibers 5 in a simple manner as described in the other embodiments electrically connected to each other to complete the circuit.
The deflection can be detected by suitable circuit as a separate voltage U x and U y respectively for the X and Y component of the bend or measured as a voltage U, during the permanent switching in the first position of the voltage U x and in the second position corresponds to the voltage U y .
Due to this particularly simple construction of the bending sensor 1 reduces the number of fibers needed 5 , which simplifies the manufacture.
The 4 shows the cross section of a bending sensor 1 according to a further embodiment. Here are the polymer fibers 5 completely from the insulating body 2 enclosed. The sensor 1 here has a round cross-section, which allows a slight and uniform deflection from the longitudinal axis in all directions. The electrical wires 9 , which at the fiber ends, not shown, with the fibers 5 are here in the form of wires at least partially in a channel 12 guided, approximately centrally along the longitudinal axis 4 through the bending sensor 1 passes through. In this way increase the electrical wires 9 not the cross-section of the bending sensor 1 , The connection of the electrical wires 9 with the fiber ends, for example, done by the wires 9 the body 2 and the fibers 5 Pierce according to the desired electrical connection. As a result of the material, there is an aging or deformation of the body over time 2 can come is the channel 12 each at its ends with a tube 14 provided for reinforcement. The tubes 14 prevent a change in the channel diameter due to material fatigue or creep of the material. These tubes may be provided with insulation to provide electrical insulation against the electrical leads 9 sure.
The in 5 shown in cross section bending sensor 1 According to another embodiment again comprises a body 2 with a central, longitudinally extending channel 12 through which a part of the electrical wires 9 can be performed. The conductive polymer fibers 5 here are partially on the surface of the body 2 and are externally applied flexprints 10 contacted. The flexprints 10 are the diameter of the body 2 appropriately preformed and enclose the body 2 close fitting to the diameter of the bending sensor 1 not unnecessarily enlarge. The flexprints 10 have contacts 11 in the form of protrusions in depressions 13 in the conductive fibers 5 intervention. It is also conceivable the fibers 5 at least in the area of the fiber ends 6 provided with such projections, inversely in recesses in the contacts 11 intervention. A combination of both is possible. In any case, a secure contact is ensured and prevents slipping of the contacts.
The 6 shows a side view of the bending sensor 1 , The body 2 is over its length of a braided hose 8th surrounded in the form of a co-extruded with the sensor braid layer. In the area of fiber ends 6 the bending sensor is explained by Flexprints as in the previous embodiment 10 contacted. The other electrical wires 9 , for the connection of the electrically conductive polymer fibers 5 with the measuring unit, not shown here 7 serve, run through the central channel 12 from the end of the bending sensor shown on the right 1 to the left end of the bending sensor 1 and on to the measurement unit 7 , In the example shown, it is the other electrical lines 9 around extensions of the flexprints 10 , The channel 12 is at its ends each with a tube 14 strengthened. For a secure hold of the flexprints 10 To ensure the sensor is in the region of its ends each additionally with a shrink tube 15 provided that the body 2 , the network netting 8th and the flexprints 10 tightly encloses.
As a result, a secure arrangement is created, the reliable information even under difficult outdoor conditions for the deflection of the sensor 1 supplies.
This in 7 Endoscopic instrument shown is a flexible endoscope 20 and includes an insertion part 21 with a flexible section 22 , as well as a proximal housing 23 , In this example, the flexible section is 22 at the distal end of the insertion part 21 arranged. However, it is also conceivable that one or more flexible sections are provided distributed over the insertion part. The Bowden cables 26 run from the inside of the case 23 through the insertion part 21 to the flexible section 22 , By the movement of a mechanism 30 in the case 23 becomes the flexible section 22 by means of the Bowden cables 26 deflected. This can be done by hand by pressing a non-illustrated, on the housing 23 attached Stellrades done, or electrically via a motor unit 27 , Here are the Bowden cables 26 about the mechanics 30 with the motor unit 27 connected.
The flexible endoscope 20 also includes a bending sensor 1 according to one of the examples described above, in the area of the flexible section 22 is arranged. If there are several flexible sections, it makes sense to provide each section with its own bending sensor. Will now be the flexible section 22 deflected, so the deflection of the bending sensor 1 detected and a corresponding signal to the measuring unit, not shown here 7 forwarded. The measuring unit 7 This may be outside of the endoscopic instrument 20 or in the instrument 20 be integrated, for example, in the housing 23 ,
The 8th shows a cross section through the insertion part 21 of the flexible endoscope 20 in the area of the flexible section 22 along the line AA 7 ,
The insertion part 21 this instrument 20 has an image guide in its cross section 24 which forwards a distally received light signal to the proximal, as well as optical fiber bundles 25 which serve to relay illumination light from the proximal to the distal end. In the outer area of the cross section are the Bowden cables 26 shown. In order to ensure a uniform illumination of the object to be viewed, are usually several optical fiber bundles 25 provided in cross section. In particular, in medical technology, the diameter of the flexible Endoskopschäfte is preferably only a few millimeters, so that only little space for other components in the insertion part is available. The bending sensor according to the invention 1 , which is formed as in one of the aforementioned examples, is image guide between the other components 24 and light guides 25 in the insertion part 21 arranged and completely enclosed by this. Due to its compact design and its small diameter of less than one millimeter, the integration in the insertion part 21 of the endoscope possible. The space proximal to the bending sensor 1 Can be used to power the electrical wires 9 and to the proximal end of the instrument 20 leading to a compact overall design of the flexible endoscope 20 contributes.
The 9 illustrates the relationship between bending sensor 1 and measurement unit 7 or motor units 27 as he is in a flexible endoscope 20 can be provided. As before 7 described, is the bending sensor 1 in the flexible section 22 of the introduction part 21 of the endoscope 20 , In the proximal housing 23 is now the measurement unit 7 intended. signal lines 29 connect the measuring unit 7 with a controller 31 on the one hand with a joystick 28 and on the other hand with the motor units 27 connected is. By pressing the joystick 28 be over the control 31 the motor units 27 initiated by the mechanics not shown here 30 the bowden cables 26 to move. That way, the flexible section becomes 22 of the introduction part 21 deflected.
Because the bending sensor 1 With deflected, it generates a signal that the actual bending of the section 22 represents and that to the measuring unit 7 is transmitted. This evaluates the signal and forwards an adapted control signal to the controller 31 , In this way, mechanical inadequacies, as they occur in flexible endoscopes, for example, by the existing rope friction, automatically compensated. This will ensure that the operation of the joystick 28 exactly with the movement of the flexible section 22 correlated. Occurring mechanical influences are compensated during the application, since the bending sensor 1 continuously accurate information about the actual degree of deflection of the flexible section 22 to the measuring unit 7 supplies.
An inventive arm 40 is in 10 shown. Such a medical support arm 40 For example, it serves to hold medical instruments in an operating room. It includes three articulated sections in this example 41 . 41a that make it possible the different parts 44 of the support arm to deflect against each other. In the articulated section 41a is a bending sensor 1 provided according to one of the aforementioned embodiments. He reliably detects a deflection of the interconnected by the articulated portion parts 44 of the support arm 40 , It is understood that any number of articulated sections 41 . 41a with a bending sensor according to the invention 1 can be provided to align the support arm 40 overall precise.
US 6201468 B1 [0005]
US 5728044 A [0007]
Bending sensor ( 1 ) for measuring a deflection consisting of an elongated body ( 2 ) made of electrically insulating polymer material, with a longitudinal axis ( 4 ), with in the body ( 2 ) embedded fibers ( 5 ) of an electrically conductive polymer material, wherein the fibers ( 5 ) substantially parallel to the longitudinal axis ( 4 ) and spaced apart in the polymer body ( 2 ), characterized in that a measuring unit ( 7 ) provided with the fibers ( 5 ) and is suitable for determining the change in the electrical resistances of the fibers ( 5 ) as a measure of the deflection of the body ( 2 ) from the longitudinal axis ( 4 ).
Bending sensor ( 1 ) according to claim 1, characterized in that at least four fibers ( 5 ) are circumferentially offset by approximately 90 ° in the body.
Bending sensor ( 1 ) according to claim 1 or 2, characterized in that means for stiffening the sensor ( 1 ) are provided which a rotation of the bending sensor ( 1 ) about its longitudinal axis ( 4 ) restrict.
Bending sensor ( 1 ) according to claim 3, characterized in that the body ( 2 ) along its longitudinal axis ( 4 ) of one on the body ( 2 ) adjacent braided hose ( 8th ) is enclosed.
Bending sensor ( 1 ) according to one of the preceding claims, characterized in that its diameter over its entire length is substantially smaller than 1 mm.
Bending sensor ( 1 ) according to one of the preceding claims, characterized in that electrical lines ( 9 . 16 ) are provided, the fibers ( 5 ) in the region of the fiber ends ( 6 ) to contact.
Bending sensor ( 1 ) according to one of the preceding claims, characterized in that the fibers ( 5 ) at least partially on the surface ( 3 ) of the body ( 2 ) lie.
Bending sensor ( 1 ) according to one of the preceding claims, characterized in that in each case two of the fibers ( 5 ) and the electrical lines ( 9 . 16 ) together with the measuring unit ( 7 ) form an electrical circuit in the form of a Wheatstone bridge.
Bending sensor ( 1 ) according to one of the preceding claims, characterized in that the electrical lines ( 9 . 16 ) at least partially into the electrically insulating polymeric material of the body ( 2 ) are embedded.
Bending sensor ( 1 ) according to claim 9, characterized in that the electrical lines ( 9 . 16 ) additional in the body ( 2 ) embedded fibers ( 16 ) of the electrically conductive polymer material.
Bending sensor ( 1 ) according to one of the preceding claims, characterized in that the body ( 2 ) a particular central channel ( 12 ) along its longitudinal axis ( 4 ), through which at least a part of the electrical lines ( 9 ) is guided.
Bending sensor ( 1 ) according to one of the preceding claims, characterized in that the electrical lines ( 9 ) Flexprints ( 10 ) with electrical contacts ( 11 ) on the body ( 2 ) and the fibers ( 5 ) to contact.
Bending sensor ( 1 ) according to claim 12, characterized in that the fibers ( 5 . 16 ) and / or the flexprints ( 10 ) Wells ( 13 ), in which projections of the respective other component Flexprint ( 10 ) or fiber ( 5 ) intervene.
Bending sensor ( 1 ) according to one of the preceding claims, characterized in that a heat-shrinkable tube ( 15 ) is provided which the bending sensor ( 1 ) at least partially encloses.
Bending sensor ( 1 ) according to one of the preceding claims, characterized in that it is incorporated into a medical or endoscopic instrument ( 20 ) with an insertion part ( 21 ) that includes at least one flexible section ( 22 ), and that the bending sensor ( 1 ) in the area of the flexible section ( 22 ) in the insertion part ( 21 ) is arranged to a deflection of the insertion part ( 21 ) to eat.
Bending sensor ( 1 ) according to claim 15, characterized in that the bending sensor ( 1 ) completely from the insertion part ( 21 ) is enclosed.
Bending sensor ( 1 ) according to claim 15 or 16, characterized in that at least one motor unit ( 27 ) provided with the flexible section ( 22 ) of the instrument ( 20 ) is in operative connection to a deflection of the insertion part ( 21 ), the measuring unit ( 7 ) and the motor unit ( 27 ) via signal lines ( 29 ) are connected together to transmit a signal as a measure of the deflection.
Bending sensor ( 1 ) according to any one of claims 1 to 14, characterized in that it fits into a medical holding arm ( 40 ) with at least one articulated section ( 41 . 41a ), wherein the bending sensor ( 1 ) In this section ( 41a ) is arranged to a deflection of the support arm ( 40 ) to eat.
DE201210007892 2011-04-28 2012-04-23 bend sensor Withdrawn DE102012007892A1 (en)
DE102011017704.3 2011-04-28
DE102011017704 2011-04-28
DE201210007892 DE102012007892A1 (en) 2011-04-28 2012-04-23 bend sensor
DE102012007892A1 true DE102012007892A1 (en) 2012-10-31
ID=46045699
DE201210007892 Withdrawn DE102012007892A1 (en) 2011-04-28 2012-04-23 bend sensor
US (1) US20120277531A1 (en)
EP (1) EP2518436B1 (en)
DE (1) DE102012007892A1 (en)
RU2543677C1 (en) * 2013-08-23 2015-03-10 Федеральное государственное унитарное предприятие "Государственный научный центр Российской Федерации-Физико-энергетический институт имени А.И. Лейпунского" Meter of tubular channel bending
US6201468B1 (en) 1997-10-14 2001-03-13 Devolpi Dean R. Deflection sensor
DE102006027616A1 (en) * 2006-06-13 2007-12-27 Frormann, Lars, Prof. Dr.-Ing. Strain gauge for determination of strain of components or objects, has extrinsic electrically conductive polymer material, which enables measurement of deformation or length variation by change of resistance of extrinsic conductive plastic
2012-04-23 EP EP12002841.0A patent/EP2518436B1/en active Active
2012-04-23 DE DE201210007892 patent/DE102012007892A1/en not_active Withdrawn
2012-04-27 US US13/457,663 patent/US20120277531A1/en not_active Abandoned
EP2518436A1 (en) 2012-10-31
US20120277531A1 (en) 2012-11-01
EP2518436B1 (en) 2015-06-17
JP3927764B2 (en) 2007-06-13 Endoscope flexible tube
JP2005530556A (en) 2005-10-13 Autopilot endoscope with wireless interface
JP2005530558A (en) 2005-10-13 Programmable universal guide catheter
EP0901341A4 (en) 2000-04-05 Bend-responsive catheter
CA2617122A1 (en) 2007-02-01 Shaft, e.g., for an electro-mechanical surgical device