Handgrip for assessment of colonoscope manipulation
A handgrip for colonoscope shaft is equipped with force, torque, and acceleration sensors allowing for a comprehensive characterization of colonoscope shaft motion, including recognition of obstacles and recording of forces and torques applied at various times during a colonoscopy procedure. An electronic unit is adapted to receive sensors data wirelessly and calculate a variety of motion parameters guiding a medical practitioner during the procedure and aimed at making colonoscopy safer and less painful.
1. A handgrip for a colonoscope shaft comprising:
an internal sleeve adapted to be placed over and engaged with said colonoscope shaft,
an external sleeve slidingly positioned about the internal sleeve, and
an engaging means positioned between said internal and external sleeves, said engaging means further equipped with a force sensor, a torque sensor and an acceleration sensor, said force sensor adapted to measure force applied along said colonoscope shaft, said torque sensor adapted to measure rotational torque applied to said colonoscope shaft, and said acceleration sensor adapted to measure acceleration of motion of said handgrip.
2. The handgrip as in claim 1 , wherein said acceleration sensor comprises a linear acceleration sensor adapted to measure linear acceleration along said colonoscope shaft and a rotational acceleration sensor adapted to measure acceleration of rotation applied to said colonoscope shaft.
3. The handgrip as in claim 1 further equipped with a wireless data transmission means.
4. The handgrip as in claim 1 , wherein said acceleration sensor includes a 3-axis acceleration sensor, a 3-axis magnetometer, and a 3-axis gyroscope.
5. A handgrip system for measuring force, torque and motion acceleration applied to a shaft of a colonoscope, said system comprising:
a handgrip comprising in turn an internal sleeve adapted to be placed over and releasably engage with said colonoscope shaft, an external sleeve slidingly positioned about the internal sleeve, and an engaging means positioned therebetween and further equipped with a force sensor, a torque sensor, an acceleration sensor, and a data transmission means, and
an electronic unit for data receiving and processing.
6. The handgrip system as in claim 5 , wherein said electronic unit further equipped with a display for presenting said force, torque, and acceleration data.
7. The handgrip system as in claim 6 , wherein said acceleration sensor includes a 3-axis acceleration sensor, a 3-axis magnetometer, and a 3-axis gyroscope, said electronic unit is adapted to calculate said linear acceleration by measuring elevation, rotation, and azimuth angles of said handgrip relative to the gravity and magnetic vectors of the Earth; measuring 3-D acceleration vector by said 3-axis acceleration sensor; calculating 3-D acceleration vector produced by only displacement of said handgrip by subtracting of gravity vector from the 3-D acceleration vector; and calculating a projection of the 3-D acceleration vector to a central axis of said handgrip.
8. The handgrip system as in claim 7 , wherein said electronic unit is further adapted to calculate rotational acceleration by measuring elevation, rotation and azimuth angles of said handgrip relative to the gravity vector of the Earth; measuring 3-D rotational accelerations by said 3-axis rotational gyroscope; and calculating the rotational acceleration about said colonoscope shaft from said 3-D rotational accelerations accounting for gravity vector of the Earth.
9. The handgrip system as in claim 5 , wherein said electronic unit is adapted to compute a speed of handgrip motion and a change in positioning thereof, said computations based on data from said acceleration sensor.
10. The handgrip system as in claim 5 , wherein said acceleration sensor includes a linear acceleration sensor to measure linear acceleration along said colonoscope shaft.
11. The handgrip system as in claim 5 , wherein said acceleration sensor includes a rotation acceleration sensor to measure acceleration of rotation applied to said colonoscope shaft.