公开(公告)号：WO9824017A3

公开(公告)日：1998-10-08

申请号：PCT/GB9703166

申请日：1997-11-26

申请人： UNIV BRISTOL ,  GRIFFITHS MANSEL VALMOND ,  BRETT PETER NIGEL ,  TRITTO GIUSEPPE ,  STONE RHODRI SIMON WATCYN

发明人： GRIFFITHS MANSEL VALMOND ,  BRETT PETER NIGEL ,  TRITTO GIUSEPPE ,  STONE RHODRI SIMON WATCYN

IPC分类号： A61B19/00 ,  G06F3/00 ,  G06F3/01 ,  G06F

CPC分类号： G06F3/014 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/74 ,  A61B34/76 ,  A61B2034/741

摘要： This invention relates to control means and actuators (1) with feed-back sensors (5) suitable for use in tele-operated systems, especially surgical tools and endoscopes. A membrane (9) is provided to flex with an operator's finger, and a sensor (20) responsive to longitudinal flexing of the membrane produces an output signal dependent on the position of the finger. The membrane (9) covers the finger like a glove, and extends across the back of the hand. The sensor (20) preferably comprises an optic fibre (13). The actuator (1) is fluid-operated and comprises a corrugated tube (7) with a length-restraining member (8) along one side so that the tube curves when it is extended by internal fluid pressure. A feedback sensor (5) is responsive to the position of the tube (7) and/or lateral force experienced by the tube (7) when it engages an external object. A feedback signal from the sensor (5) operates a feedback force generator (3) in contact with the operator's finger.

公开(公告)号：WO1998024017A2

公开(公告)日：1998-06-04

申请号：PCT/GB1997003166

申请日：1997-11-26

申请人： UNIVERSITY OF BRISTOL ,  GRIFFITHS, Mansel, Valmond ,  BRETT, Peter, Nigel ,  TRITTO, Giuseppe ,  STONE, Rhodri, Simon, Watcyn

发明人： UNIVERSITY OF BRISTOL

IPC分类号： G06F00/00

CPC分类号： G06F3/014 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/74 ,  A61B34/76 ,  A61B2034/741

摘要： This invention relates to control means and actuators (1) with feed-back sensors (5) suitable for use in tele-operated systems, especially surgical tools and endoscopes. A membrane (9) is provided to flex with an operator's finger, and a sensor (20) responsive to longitudinal flexing of the membrane produces an output signal dependent on the position of the finger. The membrane (9) covers the finger like a glove, and extends across the back of the hand. The sensor (20) preferably comprises an optic fibre (13). The actuator (1) is fluid-operated and comprises a corrugated tube (7) with a length-restraining member (8) along one side so that the tube curves when it is extended by internal fluid pressure. A feedback sensor (5) is responsive to the position of the tube (7) and/or lateral force experienced by the tube (7) when it engages an external object. A feedback signal from the sensor (5) operates a feedback force generator (3) in contact with the operator's finger.

摘要翻译： 本发明涉及具有适用于远程操作系统，特别是外科手术工具和内窥镜的反馈传感器（5）的控制装置和致动器（1）。 提供膜（9）以使操作者的手指弯曲，响应于膜的纵向弯曲的传感器（20）产生取决于手指位置的输出信号。 膜（9）像手套一样覆盖手指，并延伸穿过手背。 传感器（20）优选地包括光纤（13）。 致动器（1）是流体操作的，并且包括沿着一侧具有长度限制构件（8）的波纹管（7），使得当管通过内部流体压力而延伸时，管弯曲。 当反射传感器（5）接合外部物体时，反馈传感器（5）响应于管（7）的位置和/或管（7）所经受的横向力。 来自传感器（5）的反馈信号操作与操作者的手指接触的反馈力发生器（3）。