Method for synchronously measuring soft tissue deformation amount

• Main Authors: MA XIAOYI, CAO HAILIAN, LI XIAOHUI, LI ZHUOHUA
• Format: Patent
• Language: Chinese; English
• Published: 02.11.2018
• Subjects: DIAGNOSIS; HUMAN NECESSITIES; HYGIENE; IDENTIFICATION; MEDICAL OR VETERINARY SCIENCE; SURGERY

The invention discloses a method for synchronously measuring a soft tissue deformation amount, and belongs to the technical field of medical instruments for minimally invasive surgical operations. Themethod is used for experiments of puncturing soft tissue through flexible needles with assistance of a robot. A soft tissue deformation amount synchronous measurement device and a soft tissue deformation amount synchronous measurement algorithm are involved in the method, a core component of the device is a six-axis force/torque sensor, and other accessories of the device comprise a rectangular tissue supporting plate, a round tissue tray, a rectangular bottom plate, a data collection card and a computer, the round tissue tray is connected with the top end of the sensor, and the rectangular bottom plate used for fixing the sensor is connected with the bottom face of the sensor. The computer includes signal processing software. The measurement device is fixed to the bottom of a tissue container. The signal process