Tactile instrument

• US 20050262949A1
• Filed: 05/31/2005
• Published: 12/01/2005
• Est. Priority Date: 05/31/2004
• Status: Active Grant

• Current Assignee: Novineon Healthcare Technology Partners GmbH
• Original Assignee: Novineon Healthcare Technology Partners GmbH
• Inventors: Schostek, Sebastian, Kalanovic, Daniel, Schurr, Marc Oliver, Ho, Chi-Nghia
• Granted Patent: US 7,698,961 B2
• Time in Patent Office: Days
• US Class Current: 73/862.621
• CPC Class Codes: G01L 1/205 using distributed sensing elements
• CPC Class Codes: G01L 5/228 using tactile array force sensors

Abstract

The ability of a person to grasp an object and at the same time to feel, as well as to determine mechanical and geometric parameters of the comprehended object, makes him or her irreplaceable for many tasks, i.e. in production or in surgery. The translation of this ability into a technological system has often failed up to now due to lack of special adjusted sensors. The object of this invention is a sensory device, which fulfills the requirements for a tactile sensor system and at the same time affords a cost-effective and simple manufacturing alternative to other sensor principles. The layer structure of the sensor element is so constructed that by effect of an external force of the current by a resistive layer a path is disposed to narrowing or enlargement. The voltage drop over this resistive layer is dependent upon the acting external force and serves as signal sensor.

Claims

1. Device for the measurement by contact and classification locally of mechanical and geometric properties of an object, thereby characterized, in that it has at least two sensor elements of this type, which in each case have a first layer, a second layer and a third layer, whereby the first and the third layer exhibit a higher electrical conductivity than the second layer, and whereby also between the first layer and the second layer a direct electrically conducting mechanical connection exists as well as between the second layer and the third layer.

2. Sensor element according to claim 1, thereby characterized, in that at least one of the layers according to claim 1 has a different geometric form, such that either between the first conductive layer and the second resistive layer or the second resistive layer and the third conductive layer or also between the first conductive layer and the second resistive layer as well as between the second resistive layer of the third conductive layer an opening is present.

3. Sensor element according to claim 1 or 2, thereby characterized, in that it is of such a form that under force-effect of a force component vertical to the plane of the position of at least one of the layers according to claim 1, the size of the contact surface between the first and the second layer or between the second and the third layer or also between the first and the second as well as between the second and third layer changes.

4. Sensor element according to claim 1, thereby characterized, in that it has a fourth electrically isolated layer, which stands in mechanical contact with the first conductive layer.

5. Sensor element according to claim 1, thereby characterized, in that it has a fifth electrically isolated layer, which stands in mechanical contact with the third conductive layer.

6. Sensor element according to claim 1, thereby characterized, in that the first layer deforms under force effect by a force component vertical to the plane of the position of at least one of the layers according to claim 1.

7. Sensor element according to claim 1, thereby characterized, in that it is formed in such a way, that under force-effect of a force component vertical to the plane of the position of at least one of the layers according to claim 1 the second layer mechanically deforms.

8. Sensor element according to claim 1, thereby characterized, in that it is formed in such a way, that under force-effect of a force component vertical to the plane of the position of at least one of the layers according to claim 1 the first and the second layer mechanically deform.

9. Sensor element according to claim 1, thereby characterized, in that it is formed in such a way, that under force-effect of a force component vertical to the plane of the position of at least one of the layers according to claim 1 the first and the third layer mechanically deform.

10. Sensor element according to claim 1, thereby characterized, in that it is formed in such a way that under force-effect of a force component vertical to the plane of the position of at least one of the layers according to claim 1, the first, the second, and the third layer mechanically deform.

11. Sensor element according to claim 1, thereby characterized, in that the first conductive layer as well as the second resistive layer exhibit no curvature and the third conductive layer exhibits at least one curvature.

12. Sensor element according to claim 1, thereby characterized, in that the first conductive layer as well as the third conductive layer have no curvature and the second resistive layer has at least one curvature.

13. Sensor element according to claim 1, thereby characterized, in that the first conductive layer has no curvature and at least the second resistive layer as well as the third conductive layer in each case exhibits curvature.

14. Sensor element according to claim 1, thereby characterized, in that the first conductive layer at least has a curvature and the second resistive layer as well as the third conductive layer have no curvature.

15. Sensor element according to claim 1, thereby characterized, in that the first conductive layer as well as the third conductive layer in each case have curvature and the second resistive layer has no curvature.

16. Sensor element according to claim 1, thereby characterized, in that the first conductive layer and also the second resistive layer at least in any case exhibit curvature, and the third conductive layer has no curvature.

17. Sensor element according to claim 1, thereby characterized, in that the first conductive layer and the second resistive layer and the third conductive layer, in any case, exhibit a curvature.

18. Sensor element according to claim 1, thereby characterized, in that it has at least one electrically isolated layer, which is between the fourth electrically isolated layer according to claim 4 and the fifth electrically isolated layer according to claim 5.

19. Sensor element according to claim 1 and 18, thereby characterized, in that the sixth electrically isolated layer exhibits breakthroughs within the area of the sensor element.

20. Sensor element according to claim 1, and according to at least one of claims 18 and 19, thereby characterized in that the sixth electrically isolated layer is situated between the fourth electrically isolated layer according to claim 4 and the second resistive layer and stands in direct mechanical contact with these.

21. Sensor element according to claim 1, and according to at least one of claims 18 and 19, thereby characterized in that the sixth electrically isolated layer is situated between the fourth electrically isolated layer according to claim 4 and the third resistive layer and stands in direct mechanical contact with these.

22. Sensor element according to claim 1, and according to at least one of claims 18 and 19, thereby characterized in that the sixth electrically isolated layer is situated between the fifth electrically isolated layer according to claim 5 and the first conductive layer and stands in direct mechanical contact with these.

23. Sensor element according to claim 1, and also at least one of claims 18 and 19, thereby characterized in that the sixth electrically isolated layer is situated between the fifth electrically isolated layer according to claim 5 and the second resistive layer and stands in direct mechanical contact with these.

24. Sensor element according to claim 1 and also at least one of claims 18 and 19, thereby characterized, that the sixth electrically isolated layer is situated between the first conductive layer and the second resistive layer and stands in direct mechanical contact with these.

25. Sensor element according to claims 1 to 7, thereby characterized, in that the fourth electrically isolated layer possesses a first geometric structure.

26. Sensor element according to claim 1, thereby characterized, in that the first geometric structure exhibits a direct mechanical contact with the second resistive layer.

27. Sensor element according to claim 1, thereby characterized, in that the first geometric has a direct mechanical contact with the third conductive layer.

28. Sensor element according to claim 1, thereby characterized, in that the fifth electrically isolated layer has a second geometric structure.

29. Sensor element according to claim 1 thereby characterized, in that the second geometric structure has a direct mechanical contact with the first conductive layer.

30. Sensor element according to claim 1, thereby characterized in that the second geometric structure is in direct mechanical contact with the second resistive layer.

31. Device according to claim 1, thereby characterized, in-that all sensor elements according to claim 1 possess this the geometric form selected from one of the following group:

(circular, elliptical, three-cornered, quadratic, right-cornered, six-cornered, eight-cornered, rhombic, irregular)

32. Device according claims 1 and 31, thereby characterized, in that all sensor elements according to claim 1 possess this size.

33. Device according to claims 1 and 31, thereby characterized, in that at least two of the sensor elements according to claim 1 exhibit a different size.

34. Apparatus according to claim 1, thereby characterized, in that at least two of the sensor elements according to claim 1 have a different geometric form.

35. Device according to claim 1, thereby characterized that the sensor elements according to claim 1 are arranged according to an arrangement selected from the following group:

(axial-symmetrically arranged, arranged in at least one row, arranged orthogonally, hexagonally arranged, concentrically arranged, arranged in spiral-form, point-symmetrically arranged)

36. Device according to claim 1, thereby characterized, in that the sensor elements according to claim 1 are arranged irregularly.

37. Device according to claim 1, thereby characterized, in that between the first conductive layer of a sensor element according to claim 1 and the first conductive layer another sensor element according to claim 1 no direct electrically conductive connection exists.

38. Device according to claims 1 and 37, thereby characterized,in that between the third layer of a sensor element according to claim 1 and the third layer of another sensor element, according to claim 1, no direct electrically connection exists.

39. Device according to claims 1 and 37, thereby characterized in that between the third layer of a sensor element according to claim 1 and the third layer of at least one other sensor element according to claim 1 direct electrically conductive connection exists.

40. Device according to claims 1 and 37, thereby characterized, in that the between the third layer of a sensor element according to claim 1 and the third layer of all other sensor elements according to claim 1 direct electrically conductive connection exists.

41. Device according to claim 1, thereby characterized that between the third layer of a sensor element according to claim 1 and the third layer of another sensor element according to claim 1 no direct electrically conductive connection exists.

42. Device according to claims 1 and 41, thereby characterized, that between the first layer of a sensor element according to claim 1 and the first layer of at least one other sensor element according to claim 1 a direct electrically conductive connection exists.

43. Device according to claims 1 and 41, thereby characterized, in that between the first layer of a sensor element according to claim 1 and the first layer of all other sensor elements according to claim 1 a direct electrically conducting connection exists.

44. Device according to claim 1, thereby characterized, in that the first layers of the sensor elements according to claim 1 divides into least two groups, wherein the first layers of the sensor elements within a group have a direct electrically conductive connection with one another.

45. Device according to claim 1, thereby characterized, in that the third layer of the sensor elements according to claim 1 are at least divided into two groups whereby the third layers of the sensor element within a group has a direct electrically conductive connection with one another.

46. Device according to claim 1, thereby characterized in that the intersection from the adjacent groups of the first layers of the sensor elements according to claim 1 and an adjacent group of the third layers of the sensor elements according to claim 1 can be exactly arranged according to claims 1 to 3.

47. Device according to claim 1, thereby characterized, in that the second layer of a sensor element according to claim 1 and the second layer of another sensor element according to claim 1 no direct electrically conducting connection exist.

48. Device according to claim 1, thereby characterized in that it is a sensor element according to claim 1 and is a probe.

49. Device according to claim 1, thereby characterized, in that it is a sensor element according to claim 1 and is a tongs.

50. Sensor element according to claim 1 and also one of claims 63 and 64, thereby characterized,

in that it is a surgical instrument.

51. Sensor element according to claim 1, thereby characterized, in that the fourth electrically isolated layer according to claim 4 is flexible and that the fifth electrically isolated layer according to claim 5 is rigid.

52. Sensor element according to claim 1, thereby characterized, in that the fourth electrically isolated layer according to claim 4 as well as the fifth electrically isolated layer according to claim 5 is flexible.

53. Sensor element according to claim 1, thereby characterized, in that the first conductive layer has at least one electrically conducting supply lead.

54. Sensor element according to claim 1 as well as 68, thereby characterized that the electrically conducting supply lead guides through the volume of the fourth electrically isolated layer.

55. Sensor element according to claim 1, thereby characterized, in that the third electrically conducting supply lead.

56. Sensor element according to claim 1 and also 70, thereby characterized, in that the electrical supply lead guides through the volume of the fifth electrically isolated layer.