CN104537938A - Endoscope simulative training system capable of achieving flexible force feedback - Google Patents
Endoscope simulative training system capable of achieving flexible force feedback Download PDFInfo
- Publication number
- CN104537938A CN104537938A CN201410802442.8A CN201410802442A CN104537938A CN 104537938 A CN104537938 A CN 104537938A CN 201410802442 A CN201410802442 A CN 201410802442A CN 104537938 A CN104537938 A CN 104537938A
- Authority
- CN
- China
- Prior art keywords
- handle
- permanent magnet
- force feedback
- theater instruments
- magnetic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000012549 training Methods 0.000 title claims abstract description 27
- 238000004088 simulation Methods 0.000 claims description 26
- 238000000034 method Methods 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims description 3
- 239000000843 powder Substances 0.000 claims description 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical group [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 2
- 229910052782 aluminium Inorganic materials 0.000 claims description 2
- 230000008030 elimination Effects 0.000 claims description 2
- 238000003379 elimination reaction Methods 0.000 claims description 2
- 239000000203 mixture Substances 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 19
- 238000002324 minimally invasive surgery Methods 0.000 abstract description 5
- 238000001356 surgical procedure Methods 0.000 abstract description 4
- 230000000694 effects Effects 0.000 description 13
- 230000008569 process Effects 0.000 description 7
- 238000006073 displacement reaction Methods 0.000 description 6
- 230000001360 synchronised effect Effects 0.000 description 5
- 241001465754 Metazoa Species 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 239000013598 vector Substances 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 239000004020 conductor Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- 230000035807 sensation Effects 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000003187 abdominal effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000011888 autopsy Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 210000005056 cell body Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000002192 cholecystectomy Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 238000001839 endoscopy Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012977 invasive surgical procedure Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
- G09B23/285—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas
Landscapes
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- Computational Mathematics (AREA)
- Mathematical Optimization (AREA)
- Medical Informatics (AREA)
- Medicinal Chemistry (AREA)
- Chemical & Material Sciences (AREA)
- Algebra (AREA)
- Radiology & Medical Imaging (AREA)
- Pulmonology (AREA)
- Mathematical Analysis (AREA)
- General Health & Medical Sciences (AREA)
- Mathematical Physics (AREA)
- Pure & Applied Mathematics (AREA)
- Business, Economics & Management (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- Theoretical Computer Science (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an endoscope simulative training system which is used for simulative training teaching in the minimally invasive surgery and is capable of achieving flexible force feedback. The outer circumference face of a joy stick is designed into the mode of a rack, the rack of the joy stick is meshed with a straight gear, and thus the rectilinear motion of a handle is transformed into the circling motion so that a circular grating rotary encoder coaxially installed with the straight gear in the front-and-back direction can obtain concertina motion parameters of the handle of an instrument by reading parameters. Meanwhile, a grating encoder in the up-and-down direction can read front-and-back operation parameters of a surgical instrument fixing plate, a grating encoder in the horizontal direction can read horizontal rotation parameters of the surgical instrument fixing plate, the motion parameters of the handle in the three degrees of freedom are fed back to a single-chip microcomputer through the three encoders, the single-chip microcomputer substitutes the position parameters of the handle into a surgery simulative scene, the motion of the handle in a virtual human body model is displayed on a display screen, the single-chip microcomputer controls a corresponding electromagnetic brake to conduct braking when the position parameters of the handle are wrong, and the handle is made to generate force feedback.
Description
Technical field
The invention belongs to a kind of endoscope simulation training system with gentle force feedback for simulation training teaching in Minimally Invasive Surgery.
Background technology
In recent years, be that the micro-wound surgical operation of representative rises rapidly with laparoscopic technique, many traditional operations all start to adopt Minimally Invasive Surgical Technology.But Minimally Invasive Surgery is subject to the visual field and inspects the restriction that scope is little, patient lacks the aspects such as tactile sensation, operative region dirigibility is little, man-machine harmony is difficult.Therefore, the level of professional operative doctor be reached, need study and the training of longer time compared with traditional operation.Meanwhile, in traditional operative training, intern practises objects such as artificial model, corpse, animals often after veteran doctor's demonstration.But the artificial model sense of reality is inadequate, corpse resource-constrained and expensive, animal live soma and structure and human body differ greatly.
Then just occurred the analog simulation training system taking Minimally Invasive Surgery as source, in most analogue system, fidelity is not high, on the one hand because dummy model is true to nature not, and is the feedback really degree of power in simulated operation on the other hand.Because in minimal invasive surgical procedures, doctor relies on vision to judge the relative position of apparatus and body cavity's inwall and optimal operating position, and time more is the criterion relying on feel to be used as processing focus point.So cannot the force of beformable body distortion that produces when apparatus and cavity inner wall negotiation in real human body of the simulation of image in traditional motor feedback, make operator lose cultivation to feel, do not reach the effect of simulation training.
Study and the training of clinical operation are a difficult problem in medical teaching field always, because this is related to the life security of people, are absolutely not in patient study and training.Animal and autopsy no doubt can play certain exercise effect, but have very large difference with real clinical operation after all.Therefore, three-dimensional simulation simulation training system has just arisen at the historic moment.But cannot the force of beformable body distortion that produces when apparatus and cavity inner wall negotiation in real human body of the simulation of image in traditional motor feedback, make operator lose cultivation to feel, do not reach the effect of simulation training.The present invention utilizes custom-designed hardware configuration, emulation operating theater instruments, sensor and force feedback structure is combined, and reaches the simulation of the various clinical operation of analogue simulation and the system of training effect.
The applicant once disclosed in 2013.11.27 the patent of invention that a patent No. is ZL201320068523.0, " a kind of force feedback endoscopy trainer " by name, its scheme have employed a kind of magnetive attraction feed back control system, to be exerted all one's strength the certain electric field of tickler energising generation current by driving circuit, and then produce a magnetic field similar to true cavity inner wall sense of touch, thus make medical professional training person in learning process, really experience the true feel of surgical procedure.But when reality uses, find that this trainer exists problem of dtmf distortion DTMF, could feed back by excitation force after needing control lever to pass through contact cavity inner wall model, there is certain hysteresis quality, handle motion process is made to lack the sense of reality, simultaneously handle motion process can not complete monitoring, handle image can produce beat, the phenomenon such as play, had a strong impact on training effect.
Summary of the invention
For overcoming the deficiencies in the prior art part, the invention provides a kind of endoscope simulation training system with gentle force feedback, to solve the technical matters that prior art exists.
The technical solution adopted in the present invention is: a kind of endoscope simulation training system with gentle force feedback, and this system comprises:
One three-dimensional rotating operation platform, described three-dimensional rotating operation platform horizontally rotates support by a vertical rotation support and one and forms, wherein, described horizontally rotate support comprise base, turntable and two clamping plates composition, be provided with vertical shaft in the middle of described base, described turntable is provided with a center pit, is provided with bearing in hole, described turntable suit is described vertical shaft, and described vertical shaft upper end connects with the horizontal direction Circular gratings rotary encoder being fixed on described turntable upper surface through described turntable center pit; Described vertical rotation support comprises an operating theater instruments fixed head and U-shaped support, described operating theater instruments fixed head both sides are respectively provided with a transverse axis, insert in the through hole in described U-shaped support vertical plates on both sides respectively, described U-shaped frame bottom is fixed as one by two pieces of described clamping plate and described turntable, is bolted between two pieces of described clamping plate; A transverse axis outer end of described operating theater instruments fixed head is affixed with the above-below direction grating encoder of the side being arranged at described U-shaped support, and another root transverse axis outer end of described operating theater instruments fixed head is affixed with the above-below direction electromagnetic brake being fixed on described U-shaped support opposite side;
One is fixed on the Virtual Endoscopy operating theater instruments on this three-dimensional rotating operation platform, the operating rod comprising operating grip He be attached thereto, and described operating rod outer cover is equipped with a linear bearing, and described linear bearing is fixed on the upper end of described operating theater instruments fixed head; The periphery of described operating rod is provided with tooth bar, and have a breach in the middle of bottom described linear bearing, breach is built with a spur gear, and this spur gear engages with the periphery tooth bar of described operating rod; Described spur gear is coaxially equipped with conical gear and fore-and-aft direction Circular gratings rotary encoder, and the two lays respectively at the both sides of described linear bearing; On this, conical gear engages with lower conical gear; Described lower conical gear is fixed on a magnetic shaft end, the permanent magnet stationary cylinder that this magnetic axle lower end and one is fixed on described operating theater instruments fixed head is actively coupled, and is fixedly connected bottom described permanent magnet stationary cylinder by screw and fore-and-aft direction electromagnetic brake; Have three blind holes substantially arranged in line in described permanent magnet stationary cylinder inner chamber, described magnetic axle bottom is installed in central blind hole, freely can rotate in this central blind hole; All permanent magnet is fixed with in the blind hole of described central blind hole both sides, the magnetic pole of described permanent magnet is relative with the magnetic pole opposite sex of described magnetic axle, by magnetic force, described permanent magnet stationary cylinder is adsorbed on described magnetic axle, described permanent magnet stationary cylinder two ends are located by bearing seat, can rotate with described magnetic axle;
Described magnetic axle and described permanent magnet stationary cylinder rely on together with magnetic-adsorption, when not meeting the condition producing force feedback, the rotor of permanent magnet stationary cylinder and fore-and-aft direction electromagnetic brake is with magnetic axle synchronous axial system, and the stator of fore-and-aft direction electromagnetic brake is fixed on the mount pad on operating theater instruments fixed head; Once run into the condition (i.e. needs forces occurring feedback) meeting force feedback, Single Chip Microcomputer (SCM) system can by electrical signal transfer to fore-and-aft direction electromagnetic brake, electromagnetic brake generally adopts electromagnetic powder brake, magnetic field is formed during magnetizing coil energising, magnetic magnetizes under magnetic fields, form magnetic chain, and be polymerized with between rotor at fixing magnetic conductor, by adhesion and the friction force realization braking of magnetic.When exciting curent disappears, magnetic is in free loose condition (of surface), and braking action is removed.This brake volume is little, lightweight, and exciting power is little, and braking moment and tumbler rotating speed have nothing to do, and are convenient to automatic control, are applicable to the drive system of various machine.Stop the rotation after fore-and-aft direction electromagnetic brake is locked, described permanent magnet stationary cylinder is also locked, the magnetic axle of so original synchronous rotary will with the permanent magnet generation relative motion of both sides, handle end will feel the suction produced because magnetic pole is separated that magnetic axle passes over, thus reach the effect of gentle force feedback, after handle shut-down operation, automatically reset under the permanent magnet of described magnetic axle in both sides attracts.
One magnetive attraction feed back control system, comprise Single Chip Microcomputer (SCM) system, the signal input part of described Single Chip Microcomputer (SCM) system is connected with the signal output part of described above-below direction grating encoder, fore-and-aft direction grating coding disk and horizontal direction grating encoder respectively, for receiving the rotation parameter that three described grating coding disks send; The signal output part of described Single Chip Microcomputer (SCM) system is connected with the control end of described fore-and-aft direction electromagnetic brake, above-below direction electromagnetic brake respectively, switches for the state controlling two described electromagnetic brakes.
Operating rod periphery is designed to rack form, linear reciprocating motion is done freely under the supporting of linear bearing, the tooth bar of operating rod engages with spur gear, this makes the rectilinear motion of handle be converted into circular motion, just by reading the parameter of spur gear circular motion, the stretching motion parameter of instrument handle can be obtained with spur gear coaxial mounted fore-and-aft direction Circular gratings rotary encoder.Simultaneously, above-below direction grating encoder can obtain the front and back operational factor of operating theater instruments fixed head, what horizontal direction grating encoder can obtain operating theater instruments fixed head horizontally rotates parameter, handle three degree of freedom kinematic parameter all by above-mentioned three encoder feedback to single-chip microcomputer, handle position parameter is substituted into surgical simulation scene by single-chip microcomputer, and demonstrate handle on a display screen and move in virtual human model, when handle position parameter error, touch virtual human body, namely single-chip microcomputer sends control signal, control the brake of corresponding electromagnetic brake, handle is made to produce force feedback.The grating disc that above-mentioned three grating coding disks adopt is and is circumferentially being divided into 1000 units, and precision can meet the displacement detecting needs of emulation clamp completely.
Beneficial effect: 1. native system is simple and reasonable, and volume is relatively little, easy to carry and transport.
2. sensor accuracy is high, and simulation process is true.Because sensor grating disc dividing unit is very little, this just makes handle motion can pass to analog image in real time, and process is truly soft, do not have beat, the phenomenon such as play.
3. model exquisiteness true to nature.No matter native system, specially according to the simulated effect of real operation video frequency board design, is the force feedback sensation of handle or visual experience, all very ideally reduces the truly feels of clinical operation.
Accompanying drawing explanation
The invention will be further described in conjunction with the embodiments with reference to the accompanying drawings.
Fig. 1 is structural representation of the present invention,
Fig. 2 is partial enlarged drawing of the present invention,
Fig. 3 is magnetive attraction feedback arrangement vertical view,
Fig. 4 is magnetive attraction feedback arrangement cut-open view,
Fig. 5 is Virtual Endoscopy operating theater instruments.
In figure: 1 is linear bearing, 2 is operating rod rotation sensors, 3 is clamp sensors, 4 is bearing bracket stands, 5 is upper bevel gears, 6 is lower bevel gears, 7 is the bearing bridge that cog, 8 permanent magnet stationary cylinders, 9 is lower gear bearing bridge, 10 is spur gears, 11 is fore-and-aft direction electromagnetic brakes, 12 is above-below direction grating encoders, 13 is operating theater instruments fixed heads, 14 is above-below direction electromagnetic brake supports, 15 above-below direction electromagnetic brakes, 16 above-below direction sports limiting bars, 17 is grating encoding disc carriers, 18 is fore-and-aft direction Circular gratings rotary encoders, 19 is horizontal direction Circular gratings rotary encoders, 20 is clamping plate, 21 is cylindricality platforms, 22 is magnetic axles, 23 is permanent magnets, 24 is U-shaped supports, 25 handles, 26 operating rods.
Embodiment
See Fig. 1,2, as shown in the figure, a kind of endoscope simulation training system with gentle force feedback, this system comprises:
One three-dimensional rotating operation platform, described three-dimensional rotating operation platform horizontally rotates support by a vertical rotation support and one and forms, wherein, describedly horizontally rotate support and comprise base, cylindricality platform 21 and two clamping plates 20 and form, vertical shaft is provided with in the middle of described base, described cylindricality platform 21 is provided with a center pit, bearing is provided with in hole, described cylindricality platform 21 suit is on described vertical shaft, described vertical shaft upper end through described cylindricality platform 21 center pit, and connects with the horizontal direction Circular gratings rotary encoder 19 being fixed on described cylindricality platform 21 upper surface;
Described vertical rotation support comprises an operating theater instruments fixed head 13 and U-shaped support 24, described operating theater instruments fixed head 13 both sides are respectively provided with a transverse axis, insert in the through hole in described U-shaped support 24 vertical plates on both sides respectively, be fixed as one with described cylindricality platform 21 by two pieces of described clamping plate 20 bottom described U-shaped support 24, be bolted between two pieces of described clamping plate 20; A transverse axis outer end of described operating theater instruments fixed head 13 is affixed with the above-below direction grating encoder 12 of the side being arranged at described U-shaped support 24, another root transverse axis outer end of described operating theater instruments fixed head 13 is affixed with the above-below direction electromagnetic brake 15 being fixed on described U-shaped support 24 opposite side, and 14 is above-below direction electromagnetic brake supports.U-shaped support 24 front portion is provided with above-below direction sports limiting bar 16, spacing for operating theater instruments fixed head 13.
One is fixed on the Virtual Endoscopy operating theater instruments 2 on described three-dimensional rotating operation platform, the operating rod 26 comprising operating grip 25 and be attached thereto, described operating rod 26 outer cover is equipped with a linear bearing 1, and described linear bearing 1 is fixed on the upper end of described operating theater instruments fixed head 13; The periphery of described operating rod 26 is provided with tooth bar, and have a breach in the middle of bottom described linear bearing 1, breach is built with a spur gear 10, and this spur gear 10 engages with the periphery tooth bar of described operating rod 26; Described spur gear 10 is coaxially equipped with conical gear 5 and fore-and-aft direction Circular gratings rotary encoder 18, and the two lays respectively at the both sides of described linear bearing 1; On this, conical gear 5 engages with lower conical gear 6.
Described lower conical gear 6 is fixed on magnetic axle 22 end, the permanent magnet stationary cylinder 8 that this magnetic axle 22 lower end and one is fixed on described operating theater instruments fixed head 13 is actively coupled, and is fixedly connected bottom described permanent magnet stationary cylinder 8 by screw and fore-and-aft direction electromagnetic brake 11.
As shown in Figure 3, described permanent magnet stationary cylinder is aluminum cylindrical part, and centre has three blind holes substantially arranged in line, and described magnetic axle 22 bottom is installed in central blind hole, freely can rotate in this central blind hole; Permanent magnet 23 is all fixed with in the blind hole of described central blind hole both sides, the magnetic pole of described permanent magnet 23 and the magnetic pole opposite sex relative (as shown in Figure 4) of described magnetic axle 22, by magnetic force, described permanent magnet stationary cylinder 8 is adsorbed on described magnetic axle 22, described permanent magnet stationary cylinder 8 two ends are located by cog bearing bridge 7 and lower gear bearing bridge 9, can rotate with described magnetic axle 22.
Described magnetic axle 22 and described permanent magnet stationary cylinder 8 rely on together with magnetic-adsorption, when not meeting the condition producing force feedback, the rotor of permanent magnet stationary cylinder 8 and fore-and-aft direction electromagnetic brake 11 is with magnetic axle 22 synchronous axial system, and the stator of fore-and-aft direction electromagnetic brake 11 is fixed on the mount pad on operating theater instruments fixed head 13; Once run into the condition (i.e. needs forces occurring feedback) meeting force feedback, Single Chip Microcomputer (SCM) system can by electrical signal transfer to fore-and-aft direction electromagnetic brake 11, electromagnetic brake generally adopts electromagnetic powder brake, magnetic field is formed during magnetizing coil energising, magnetic magnetizes under magnetic fields, form magnetic chain, and be polymerized with between rotor at fixing magnetic conductor, by adhesion and the friction force realization braking of magnetic.When exciting curent disappears, magnetic is in free loose condition (of surface), and braking action is removed.This brake volume is little, lightweight, and exciting power is little, and braking moment and tumbler rotating speed have nothing to do, and are convenient to automatic control, are applicable to the drive system of various machine.Stop the rotation after fore-and-aft direction electromagnetic brake 11 is locked, described permanent magnet stationary cylinder 8 is also locked, relative motion will be there is in the magnetic axle 22 of so original synchronous rotary with the permanent magnet 23 of both sides, handle 25 end will feel the suction produced because magnetic pole is separated that magnetic axle 22 passes over, thus reach the effect of simulation gentle force feedback, after handle 25 shut-down operation, automatically reset under the permanent magnet 23 of described magnetic axle 22 in both sides attracts.
Magnetive attraction feed back control system, comprise Single Chip Microcomputer (SCM) system, the signal input part of described Single Chip Microcomputer (SCM) system is connected with the signal output part of described above-below direction grating encoder 12, fore-and-aft direction grating coding disk 18 and horizontal direction grating encoder 19 respectively, for receiving the rotation parameter that three described grating coding disks send; The signal output part of described Single Chip Microcomputer (SCM) system is connected with the control end of described fore-and-aft direction electromagnetic brake 11, above-below direction electromagnetic brake 15 respectively, switches for the state controlling two described electromagnetic brakes.
Native system can complete the analog simulation training of multiple section office operation project.Herein for the Cholecystectomy in laparoscope Minimally Invasive Surgery.Need in laparoscopic procedures to make with the hands to operate two handles 25 simultaneously, also have an endoscope to be probeed in patient body by Wicresoft's wound in addition and observe.Therefore system is propped up by two devices holds and middle endoscope and is configured in one-piece construction.Devices hold complicated structure, supports form with running part, data read portion and force feedback part primarily of holder part, apparatus work.Endoscope support is a little relatively simple, and do not have force feedback, its effect mainly regulates the visual field and angle: the actions such as simulated endoscope advance, retrogressing and rotation.Real apparatus fore-and-aft direction motion is simulated in to-and-fro movement under the supporting of the online bearing of handle 25, and handle 2525 moves through sensor feedback to single-chip microcomputer, just can observe handle 25 on a display screen and move in digital model.In order to make emulation more true, native system also simulates in surgical procedure the resistance sense encountering tissue, i.e. force feedback.In the present system, what the mode of force feedback adopted is magnetive attraction feedback.The advantage of this magnetive attraction feedback is soft, stable, and reliable, and precision is high.In native system, meet below in several condition, all can trigger force retroactive effect: 1. in operating process, handle 25 encounters the tissue and organ that should not encounter; 2. the key point needing touching is touched according to software manual; 3. when using simulation electric knife to cut unwanted organizing.
Electromagnetic brake locked time also can be arranged by software, can select locked and different mode such as moment locked then unblocks grade always.(sensor and force feedback are caught up with and are stated explanation in like manner, do not repeat one by one at this for the motion of above-below direction and left and right directions, transmission)
The Circular gratings adopted in the present invention is circumferentially being divided into 1000 units, and precision can meet the displacement detecting of emulation clamp completely.Then be hardware and parametrization three-dimensional model, effect is really true to life.The model built up is placed in space coordinates, is divided into several units in X, Y, Z-direction, and it is corresponding with emulating apparatus model unit that the parameterized model that obtains is divided equally with the space displacement scope institute of emulation operating theater instruments in software by these units.
As shown in Figure 5, clamp sensor 3 is tripod rotational potentiometer, wherein common end grounding, and the both sides of handle 25 are connected on the two ends of potentiometer variable resistance respectively.This potentiometer can detect and the kinematic parameter of handle 25 is passed to single-chip microcomputer.Operating rod rotation sensor 2 in figure is also the principle adopting potentiometer.When operating rod 26 seesaws, y component will be produced by code sensor 18, and produce z component by code sensor 12 when rotating up and down, when horizontally rotating, produce x component by code sensor 12.The β component that the α component produced by clamp sensor 3 when simultaneously coordinating upper handle 25 to close again and operating rod 26 drive operating rod rotation sensor 2 to produce when rotating, by going in cable synchronous transmission to Single Chip Microcomputer (SCM) system, combine with digital model, thus form a string vector shift array (x, y, z, α, β), control device model carries out moving with the 5D of manipulation of physical bar 26 same trajectories.
The displacement of the 5D motion realized by above mechanical part changes into digital vector signal by sensor, the modelling effect of high emulation is realized according to signal magnitude, namely adopt and optimize accurate oriented bounding box (OBB) collision detection algorithm, the position realizing operating theater instruments and human organ model is calculated and deformation effect, and shows in real time on a display screen.
Oriented bounding box (OBB) is a rectangular parallelepiped, is similar to AABB, but has directivity.There is the expression way of multiple OBB: the point set on 8 summits, the face collection in 6 faces, 3 groups of parallel surface set, a summit and 3 orthogonal edge-vectors, and central point, a rotation matrix and 3 1/2 length of sides.Usually, last a kind of expression way is the most conventional, and compared with other expression waies, between its OBB, test for intersection is more convenient.
Below for three plane collision detection, OBB collision detection optimized algorithm is adopted to realize, if plane
P
1, there are 5 kinds of different crossing possibilities:
1.3 interplanars (also may be coplanar) parallel to each other.
2. to run through two planes parallel for plane, thus form two intersections be parallel to each other.
3.3 planes are compared to straight line.
One day straight line is intersected at each other between two between 4.3 planes.
5.3 planes are compared to a bit.
Define 3 planes below.p
1：n
1·X＝d
1，p
2：n
2·X＝d
2，
p
3：n
3·X＝d
3。For above-mentioned intersection " 1 ", then there is n
1(n
2× n
3)=0, other states also can be defined in a similar fashion.Wherein, when Plane intersects is in 1 X=(x
1, x
2, x
3) time, plane equation can be considered as 3 × 3 systems of linear equations, and solve this intersection point:
n
1·X＝d
1
n
2·X＝d
2
n
3·X＝d
3
Gaussian elimination method can be utilized or solve this system of equations according to determinant and Cramer's rule.Order
According to Cramer's rule, Xie Wei:
x
1＝|d m
1m
3|/|m
1m
2m
3
x
2＝|m
1d m
3|/|m
1m
2m
3
x
3＝|＝
1m
2d|/|m
1m
2m
3
Wherein, d=[d
1d
2d
3]
t.
Scalar triple product can be reduced to select calculation expression---with some calculating formula multiplexing as far as possible---the most suitable:
x
1＝d·u/denom
x
2＝m
3·v/denom
x
3＝-m
2·v/denom
Wherein, u=m
2× m
3, v=m
1× d, denom=m
1× m
1× u.
In sum, pass through hardware, software, the combination of model and sensing device, emulation instrument handle 25 is when being subjected to displacement, photoelectric encoder converts electric signal to by the data message reading photoelectricity Circular gratings rotary encoder feedback, pass to Single Chip Microcomputer (SCM) system analysis, and be transferred to background program by interface circuit and synchronize them, the every bit that handle 25 is occurred space displacement defines to each coordinate of parameterized surgery models, this completes hardware, the data interaction of software and digiial mould, ideally the whole process of abdominal operation can be demonstrated by native system.
Although illustrate and describe embodiments of the invention, for the ordinary skill in the art, be appreciated that and can carry out multiple change, amendment, replacement and modification to these embodiments without departing from the principles and spirit of the present invention, scope of the present invention is by claims and equivalents thereof.
Claims (6)
1. there is an endoscope simulation training system for gentle force feedback, it is characterized in that this system comprises with lower component:
One three-dimensional rotating operation platform, described three-dimensional rotating operation platform horizontally rotates support by a vertical rotation support and one and forms, wherein, described horizontally rotate support comprise base, turntable and two clamping plates composition, be provided with vertical shaft in the middle of described base, described turntable is provided with a center pit, is provided with bearing in hole, described turntable suit is described vertical shaft, and described vertical shaft upper end connects with the horizontal direction Circular gratings rotary encoder being fixed on described turntable upper surface through described turntable center pit; Described vertical rotation support comprises an operating theater instruments fixed head and U-shaped support, described operating theater instruments fixed head both sides are respectively provided with a transverse axis, insert in the through hole in described U-shaped support vertical plates on both sides respectively, described U-shaped frame bottom is fixed as one by two pieces of described clamping plate and described turntable, is bolted between two pieces of described clamping plate; A transverse axis outer end of described operating theater instruments fixed head is affixed with the above-below direction grating encoder of the side being arranged at described U-shaped support, and another root transverse axis outer end of described operating theater instruments fixed head is affixed with the above-below direction electromagnetic brake being fixed on described U-shaped support opposite side;
One is fixed on the Virtual Endoscopy operating theater instruments on this three-dimensional rotating operation platform, the operating rod comprising operating grip He be attached thereto, and described operating rod outer cover is equipped with a linear bearing, and described linear bearing is fixed on the upper end of described operating theater instruments fixed head; The periphery of described operating rod is provided with tooth bar, and have a breach in the middle of bottom described linear bearing, breach is built with a spur gear, and this spur gear engages with the periphery tooth bar of described operating rod; Described spur gear is coaxially equipped with conical gear and fore-and-aft direction Circular gratings rotary encoder, and the two lays respectively at the both sides of described linear bearing; On this, conical gear engages with lower conical gear; Described lower conical gear is fixed on a magnetic shaft end, the permanent magnet stationary cylinder that this magnetic axle lower end and one is fixed on described operating theater instruments fixed head is actively coupled, and is fixedly connected bottom described permanent magnet stationary cylinder by screw and fore-and-aft direction electromagnetic brake; Have three blind holes substantially arranged in line in described permanent magnet stationary cylinder inner chamber, described magnetic axle bottom is installed in central blind hole, freely can rotate in this central blind hole; All permanent magnet is fixed with in the blind hole of described central blind hole both sides, the magnetic pole of described permanent magnet is relative with the magnetic pole opposite sex of described magnetic axle, by magnetic force, described permanent magnet stationary cylinder is adsorbed on described magnetic axle, described permanent magnet stationary cylinder two ends are located by bearing seat, can rotate with described magnetic axle;
One magnetive attraction feed back control system, comprise Single Chip Microcomputer (SCM) system, the signal input part of described Single Chip Microcomputer (SCM) system is connected with the signal output part of described above-below direction grating encoder, fore-and-aft direction grating coding disk and horizontal direction grating encoder respectively, for receiving the rotation parameter that three described grating coding disks send; The signal output part of described Single Chip Microcomputer (SCM) system is connected with the control end of described fore-and-aft direction electromagnetic brake, above-below direction electromagnetic brake respectively, switches for the state controlling two described electromagnetic brakes.
2. there is the endoscope simulation training system of gentle force feedback according to claim 1, it is characterized in that: the grating disc that described above-below direction grating encoder, fore-and-aft direction grating coding disk and horizontal direction grating encoder adopt all circumferentially is being divided into 1000 units.
3. there is the endoscope simulation training system of gentle force feedback according to any one of claim 1 or 2, it is characterized in that: described permanent magnet stationary cylinder is aluminum cylindrical part.
4. there is the endoscope simulation training system of gentle force feedback according to any one of claim 1 or 2, it is characterized in that: described U-shaped support front portion is provided with above-below direction sports limiting bar, spacing for described operating theater instruments fixed head.
5. there is the endoscope simulation training system of gentle force feedback according to any one of claim 1 or 2, it is characterized in that: described fore-and-aft direction electromagnetic brake, above-below direction electromagnetic brake are electromagnetic powder brake.
6. based on oriented bounding box power 1 described in three plane collision calculation methods of endoscope simulation training system, it is characterized in that there are following steps:
(1) plane p is established
1, there are five kinds of different crossing possibilities:
A. three interplanars (also may be coplanar) parallel to each other.
B. to run through two planes parallel for plane, thus form two intersections be parallel to each other.
C. three planes are compared to straight line.
D. one day straight line is intersected at each other between two between three planes.
E. three planes are compared to a bit.
(2) three planes are defined.P
1: n
1x=d
1, p
2: n
2x=d
2, p
3: n
3x=d
3; For above-mentioned intersection " a ", then there is n
1(n
2× n
3)=0, other states are in like manner defined wherein, when Plane intersects is in 1 X=(x
1, x
2, x
3) time, plane equation can be considered as 3 × 3 systems of linear equations, and solve this intersection point:
n
1·X＝d
1
n
2·X＝d
2
n
3·X＝d
3
Gaussian elimination method can be utilized or solve this system of equations according to determinant and Cramer's rule,
Order
According to Cramer's rule, Xie Wei:
x
1＝|d m
1m
3|/|m
1m
2m
3|
x
2＝|m
1d m
3|/|m
1m
2m
3|
x
3＝|m
1m
2d|/|m
1m
2m
3|
Wherein, d=[d
1d
2d
3]
t;
Select calculation expression the most suitable, be reduced to:
x
1＝d·u/denom
x
2＝m
3·v/denom
x
3＝-m
2·v/denom
Wherein, u=m
2× m
3, v=m
1× d, denom=m
1× m
1× u.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410802442.8A CN104537938B (en) | 2014-12-21 | 2014-12-21 | Endoscope simulative training system capable of achieving flexible force feedback |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410802442.8A CN104537938B (en) | 2014-12-21 | 2014-12-21 | Endoscope simulative training system capable of achieving flexible force feedback |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104537938A true CN104537938A (en) | 2015-04-22 |
| CN104537938B CN104537938B (en) | 2017-02-22 |
Family
ID=52853457
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410802442.8A Active CN104537938B (en) | 2014-12-21 | 2014-12-21 | Endoscope simulative training system capable of achieving flexible force feedback |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104537938B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104900124A (en) * | 2015-06-26 | 2015-09-09 | 中国科学院合肥物质科学研究院 | Minimally invasive operation simulation apparatus based on magnetic dampers |
| CN104916212A (en) * | 2015-06-26 | 2015-09-16 | 中国科学院合肥物质科学研究院 | Endoscope simulation device and application of endoscope simulation device in minimally invasive surgery training system |
| CN106373471A (en) * | 2016-09-29 | 2017-02-01 | 浙江大学 | Force feedback type needle puncture surgery training simulation device |
| CN106584470A (en) * | 2016-11-08 | 2017-04-26 | 杭州国辰机器人科技有限公司 | Novel wrist structure for spraying demonstration mechanism |
| CN108648547A (en) * | 2018-03-29 | 2018-10-12 | 安徽工程大学 | A kind of medical operating tutoring system |
| WO2018190765A1 (en) | 2017-04-11 | 2018-10-18 | Follou Ab | A surgical simulation arrangement |
| CN108847106A (en) * | 2018-03-29 | 2018-11-20 | 安徽工程大学 | A kind of five degree of freedom medical educational equipment |
| CN110164557A (en) * | 2019-07-08 | 2019-08-23 | 杭州爱卓科技有限公司 | The method that implicit surfaces algorithm is used for analogue simulation operation on soft tissue path planning |
| CN111026269A (en) * | 2019-12-04 | 2020-04-17 | 上海褚信医学科技有限公司 | Haptic feedback method, device and equipment of biological tissue structure based on force feedback |
| CN112349191A (en) * | 2020-10-14 | 2021-02-09 | 北京众绘虚拟现实技术研究院有限公司 | Parallel force feedback mechanism for laparoscopic surgery simulation |
| CN113012516A (en) * | 2021-03-11 | 2021-06-22 | 东南大学 | Three-freedom-degree force feedback handle comprising two vertically staggered shafts |
| CN113345291A (en) * | 2021-06-15 | 2021-09-03 | 南方医科大学珠江医院 | Minimally invasive surgery tactile feedback system and method based on fiber grating sensor |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001088881A3 (en) * | 2000-05-19 | 2002-04-18 | Simbionics Ltd | Tools for endoscopic tutorial system |
| US20050042587A1 (en) * | 2001-12-11 | 2005-02-24 | Wallaker Daniel Mark | Apparatus for use in training an operator in the use of an endoscope system |
| WO2011027329A3 (en) * | 2009-09-04 | 2011-05-05 | Ecole Polytechnique Federale De Lausanne (Epfl) | Haptic interface for simulator, such as a colonoscopy simulator |
| CN102568288A (en) * | 2010-12-23 | 2012-07-11 | 于福东 | Endoscopy virtual surgery system with force feedback |
| CN203311718U (en) * | 2013-02-06 | 2013-11-27 | 合肥德铭电子有限公司 | Force-feedback endoscope operation training device |
| CN103632594A (en) * | 2013-12-06 | 2014-03-12 | 王洪 | Force feedback device for minimally invasive surgery training system |
| CN103903487A (en) * | 2013-11-26 | 2014-07-02 | 深圳市唯特视科技有限公司 | Endoscope minimally invasive surgery 3D simulation system based on 3D force feedback technology |
| CN204406858U (en) * | 2014-12-21 | 2015-06-17 | 合肥德铭电子有限公司 | A kind of endoscope simulation training system with gentle force feedback |
-
2014
- 2014-12-21 CN CN201410802442.8A patent/CN104537938B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001088881A3 (en) * | 2000-05-19 | 2002-04-18 | Simbionics Ltd | Tools for endoscopic tutorial system |
| US20050042587A1 (en) * | 2001-12-11 | 2005-02-24 | Wallaker Daniel Mark | Apparatus for use in training an operator in the use of an endoscope system |
| WO2011027329A3 (en) * | 2009-09-04 | 2011-05-05 | Ecole Polytechnique Federale De Lausanne (Epfl) | Haptic interface for simulator, such as a colonoscopy simulator |
| CN102568288A (en) * | 2010-12-23 | 2012-07-11 | 于福东 | Endoscopy virtual surgery system with force feedback |
| CN203311718U (en) * | 2013-02-06 | 2013-11-27 | 合肥德铭电子有限公司 | Force-feedback endoscope operation training device |
| CN103903487A (en) * | 2013-11-26 | 2014-07-02 | 深圳市唯特视科技有限公司 | Endoscope minimally invasive surgery 3D simulation system based on 3D force feedback technology |
| CN103632594A (en) * | 2013-12-06 | 2014-03-12 | 王洪 | Force feedback device for minimally invasive surgery training system |
| CN204406858U (en) * | 2014-12-21 | 2015-06-17 | 合肥德铭电子有限公司 | A kind of endoscope simulation training system with gentle force feedback |
Non-Patent Citations (1)
| Title |
|---|
| 杨扬: "基于虚拟手术的力反馈机制研究", 《中国优秀硕士学位论文全文数据库·信息科技辑》 * |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104916212A (en) * | 2015-06-26 | 2015-09-16 | 中国科学院合肥物质科学研究院 | Endoscope simulation device and application of endoscope simulation device in minimally invasive surgery training system |
| CN104900124B (en) * | 2015-06-26 | 2017-05-03 | 中国科学院合肥物质科学研究院 | Minimally invasive operation simulation apparatus based on magnetic dampers |
| CN104900124A (en) * | 2015-06-26 | 2015-09-09 | 中国科学院合肥物质科学研究院 | Minimally invasive operation simulation apparatus based on magnetic dampers |
| CN106373471A (en) * | 2016-09-29 | 2017-02-01 | 浙江大学 | Force feedback type needle puncture surgery training simulation device |
| CN106584470A (en) * | 2016-11-08 | 2017-04-26 | 杭州国辰机器人科技有限公司 | Novel wrist structure for spraying demonstration mechanism |
| CN110662492A (en) * | 2017-04-11 | 2020-01-07 | 佛尔欧公司 | Operation simulator |
| WO2018190765A1 (en) | 2017-04-11 | 2018-10-18 | Follou Ab | A surgical simulation arrangement |
| US11335212B2 (en) | 2017-04-11 | 2022-05-17 | Follou Ab | Surgical simulation arrangement |
| EP3609409A4 (en) * | 2017-04-11 | 2020-12-23 | Follou AB | A surgical simulation arrangement |
| CN108648547A (en) * | 2018-03-29 | 2018-10-12 | 安徽工程大学 | A kind of medical operating tutoring system |
| CN108847106A (en) * | 2018-03-29 | 2018-11-20 | 安徽工程大学 | A kind of five degree of freedom medical educational equipment |
| CN110164557A (en) * | 2019-07-08 | 2019-08-23 | 杭州爱卓科技有限公司 | The method that implicit surfaces algorithm is used for analogue simulation operation on soft tissue path planning |
| CN110164557B (en) * | 2019-07-08 | 2022-05-31 | 杭州爱卓科技有限公司 | Method for simulating and simulating soft tissue surgery path planning by using implicit surface algorithm |
| CN111026269A (en) * | 2019-12-04 | 2020-04-17 | 上海褚信医学科技有限公司 | Haptic feedback method, device and equipment of biological tissue structure based on force feedback |
| CN111026269B (en) * | 2019-12-04 | 2023-10-10 | 上海褚信医学科技有限公司 | Haptic feedback method, device and equipment for biological tissue structure based on force feedback |
| CN112349191A (en) * | 2020-10-14 | 2021-02-09 | 北京众绘虚拟现实技术研究院有限公司 | Parallel force feedback mechanism for laparoscopic surgery simulation |
| CN112349191B (en) * | 2020-10-14 | 2022-09-06 | 北京众绘虚拟现实技术研究院有限公司 | Parallel force feedback mechanism for laparoscopic surgery simulation |
| CN113012516A (en) * | 2021-03-11 | 2021-06-22 | 东南大学 | Three-freedom-degree force feedback handle comprising two vertically staggered shafts |
| CN113012516B (en) * | 2021-03-11 | 2022-12-20 | 东南大学 | Three-freedom-degree force feedback handle comprising two vertically-staggered shafts |
| CN113345291A (en) * | 2021-06-15 | 2021-09-03 | 南方医科大学珠江医院 | Minimally invasive surgery tactile feedback system and method based on fiber grating sensor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104537938B (en) | 2017-02-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104537938A (en) | Endoscope simulative training system capable of achieving flexible force feedback | |
| JP4366185B2 (en) | Interface device with force feedback by cable drive and four grounded actuators | |
| CN102254476B (en) | Endoscopic minimally invasive surgery simulation training method and system | |
| CN103903487B (en) | Endoscope minimally invasive surgery 3D simulation system based on 3D force feedback technology | |
| CN102306471B (en) | Improved endoscope simulation device | |
| CN108701429A (en) | The virtual and/or augmented reality that physics interactive training is carried out with operating robot is provided | |
| CN203311718U (en) | Force-feedback endoscope operation training device | |
| JP6789310B2 (en) | Equipment and methods for mobile tracking and simulation | |
| CN103632595B (en) | Multiple intracavitary therapy endoscopic surgery doctor religion training system | |
| CN202178009U (en) | Endoscope minimally invasive operation simulated training system | |
| CN110662492A (en) | Operation simulator | |
| CN104317245A (en) | Master-slave control system with force feedback function | |
| CN104361814A (en) | Knee arthroscopic surgery training device with force feedback | |
| CN204406858U (en) | A kind of endoscope simulation training system with gentle force feedback | |
| US20210312834A1 (en) | Vibrotactile Method, Apparatus and System for Training and Practicing Dental Procedures | |
| WO2010097771A3 (en) | Method and apparatus for surgical training | |
| CN103632594B (en) | Device for force feedback on Minimally Invasive Surgery training system | |
| CN107233133B (en) | Force feedback system for virtual laparoscopic surgery | |
| CN204965812U (en) | Two -dimentional emulation of medical treatment training operation device | |
| CN204791733U (en) | Complete virtual operation analogue means | |
| CN101882394A (en) | Force sense feedback simulator of virtual intervene operation | |
| CN104900124B (en) | Minimally invasive operation simulation apparatus based on magnetic dampers | |
| CN108346337B (en) | Dual-purpose operation simulation training device | |
| CN204288653U (en) | With the laparoscopic surgery trainer of force feedback | |
| CN107945603B (en) | Force feedback device for two-degree-of-freedom virtual surgery |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Endoscope simulative training system capable of achieving flexible force feedback Effective date of registration: 20170711 Granted publication date: 20170222 Pledgee: Hefei high tech Company limited by guarantee Pledgor: HEFEI DVL ELECTRON Co.,Ltd. Registration number: 2017340000116 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20231213 Granted publication date: 20170222 Pledgee: Hefei high tech Company limited by guarantee Pledgor: HEFEI DVL ELECTRON Co.,Ltd. Registration number: 2017340000116 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right |