Optimization Research Of The Sensor For Real-time Measurement Of Force And Torque Of Colonoscope

Colonoscopy is widely used in the diagnosis and treatment of colorectal diseases due to its minimal invasiveness,convenience and efficiency.However,it has two problems:bowel perforation and bowel bleeding,and they are further related to the excessive force and torque exerted on the insertion tube with respect to the colon.Therefore,based on the kinetic model between insertion tube and bowel,contact force can be infered when force information on the insertion tube can be measured by the sensor,outside the human body.Based on the above analysis,this research aims to design a set of colonoscopy force/torque sensor and its application system to help doctors monitoring the force and torque in colonoscopy.This research contains the following four parts:(1)the whole structure of sensor applied on the axiomatic design theory and ergonomics is designed to improve the one-hand operation;(2)circuit including software and hardware is designed for the data acquisition of the force/torque sensor;(3)computer software on Labwindows/CVI platform is designed to realize real-time display and storage of power and torque signals;(4)experimental platform is set up to verify the static performance of the colonoscopic force/torque sensor and the overall performance of the application system.The following conclusions can be given through the above research work in this thesis:(1)the designed force/torque sensor is light,small and in line with the ergonomics,which can effectively overcome the defects of existing sensors in the market,such as weight,large,two-hand operation and expensive;(2)the force and torque applied on the tube could be measured in real time by this application system.The main contribution of this thesis as follows:(1)the ergonomic as a design method is applied to the design of the product of colonoscopic force/torque sensor;(2)the designed application system in this project may provide a useful guidance for the application of the colonoscopic force/torque sensor in the future.