Title:
SIX-DIMENSIONAL FORCE SENSOR BASED ON IMAGE FEEDBACK, CLAMPING PROBE, AND CLAMPING APPARATUS
Document Type and Number:
WIPO Patent Application WO/2019/157806
Kind Code:
A1
Abstract:
Disclosed are a six-dimensional force sensor based on image feedback, a clamping probe, and a clamping apparatus. The six-dimensional force sensor comprises: a contact end (1100) which comes into direct contact with human tissue (6000); an elastic deformable body (1200) configured to be attached to the contact end (1100), the elastic deformable body (1200) being deformed when the contact end (1100) is subjected to a force; a marking block (1300), which comprises N feature points, is arranged inside the elastic deformable body (1200), and is fixed relative to the contact end (1100), wherein when the contact end (1100) is displaced and/or deflected under a force, the elastic deformable body (1200) is deformed, and the marking block (1300) moves and/or rotates with the contact end, where N ≥ 4; and an image information identification module for capturing and processing image information of the marking block (1300) in real time.
Inventors:
LI JINHUA (CN)
LI XUYING (CN)
WANG SHUXIN (CN)
LIU HONGBIN (CN)
ZHANG GUOKAI (CN)
BAI JUNHUAN (CN)
LI XUYING (CN)
WANG SHUXIN (CN)
LIU HONGBIN (CN)
ZHANG GUOKAI (CN)
BAI JUNHUAN (CN)
Application Number:
PCT/CN2018/102235
Publication Date:
August 22, 2019
Filing Date:
August 24, 2018
Export Citation:
Assignee:
UNIV TIANJIN (CN)
International Classes:
A61B17/29; A61B90/00
Foreign References:
| CN105606272A | 2016-05-25 | |||
| CN202105024U | 2012-01-11 | |||
| CN102151179A | 2011-08-17 | |||
| CN104783865A | 2015-07-22 | |||
| CN103376172A | 2013-10-30 | |||
| US20110137337A1 | 2011-06-09 |
Other References:
LIU, YUNDONG, RESEARCH ON TACTILE SENSING TECHNOLOGY BASED ON 3D DEFORMATION OF ELASTIC BODY, 20 April 2016 (2016-04-20), pages 26 - 65
Attorney, Agent or Firm:
CHINA SCIENCE PATENT & TRADEMARK AGENT LTD. (CN)
Download PDF: