Dogramadzi S, Virk G S, Bell G D, Rowland R S, Hancock J
School of Mechanical Engineering, University of Leeds, UK.
Int J Med Robot. 2005 Dec;1(4):89-97. doi: 10.1002/rcs.61.
A novel system for distributed force measurement between the bowel wall and the shaft of a colonoscope is presented. The system, based on the piezoresistive method, involves the integration of soft miniature transducers to a colonoscope to enable a wide range of forces to be sensed. The attached sensing sheath does not restrict the propulsion of the colonoscope nor notably alter its flexibility. The addition of the sensor sheath increases the colonoscope diameter by 15-20% depending on the type of the colonoscope (adult or paediatric). The transducer's accuracy is +/-20 grammes if it is not subjected to extensive static forces. Under large static force conditions the errors may increase to +/-50 grammes. The tactile force measuring sensors have provided preliminary results from experiments on a model of the large bowel. The force measurements confirm the predictions on the location and magnitude of the forces and that most of the forces are exerted whilst the instrument is looping.
本文提出了一种用于测量肠壁与结肠镜镜杆之间分布力的新型系统。该系统基于压阻式方法，将柔软的微型传感器集成到结肠镜上，以实现对多种力的感知。附着的传感鞘不会限制结肠镜的推进，也不会显著改变其柔韧性。根据结肠镜的类型（成人或儿童），添加传感器鞘会使结肠镜直径增加15% - 20%。如果传感器未受到较大的静力作用，其精度为±20克。在大静力条件下，误差可能会增加到±50克。触觉力测量传感器已在大肠模型实验中得出初步结果。力的测量结果证实了关于力的位置和大小的预测，并且大部分力是在器械成环时施加的。
