CN104537938B - Endoscope simulative training system capable of achieving flexible force feedback - Google Patents
Endoscope simulative training system capable of achieving flexible force feedback Download PDFInfo
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- CN104537938B CN104537938B CN201410802442.8A CN201410802442A CN104537938B CN 104537938 B CN104537938 B CN 104537938B CN 201410802442 A CN201410802442 A CN 201410802442A CN 104537938 B CN104537938 B CN 104537938B
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- 238000012549 training Methods 0.000 title claims abstract description 28
- 238000004088 simulation Methods 0.000 claims description 23
- 230000005389 magnetism Effects 0.000 claims description 22
- 239000000203 mixture Substances 0.000 claims description 5
- 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
- 238000002324 minimally invasive surgery Methods 0.000 abstract description 5
- 238000001356 surgical procedure Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 13
- 238000000034 method Methods 0.000 description 12
- 239000006247 magnetic powder Substances 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 230000009471 action Effects 0.000 description 6
- 230000001360 synchronised effect Effects 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 210000004247 hand Anatomy 0.000 description 4
- 239000007787 solid Substances 0.000 description 4
- 241001465754 Metazoa Species 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
- 238000004364 calculation method Methods 0.000 description 2
- 239000004020 conductor Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 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
- 230000003187 abdominal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 210000000746 body region Anatomy 0.000 description 1
- 210000005056 cell body Anatomy 0.000 description 1
- 238000002192 cholecystectomy 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
- 230000005611 electricity Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000002674 endoscopic surgery Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012977 invasive surgical procedure Methods 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000011889 obduction Methods 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- 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
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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 with soft force feedback being used for simulation training teaching in Minimally Invasive Surgery imitates
True training system.
Background technology
In recent years, the micro-wound surgical operation with laparoscopic technique as representative is rapidly growing, and many traditional operations all start to adopt
Use Minimally Invasive Surgical Technology.However, Minimally Invasive Surgery is subject to the visual field to inspect, scope is little, patient lacks tactile sensation, operative region is flexible
The restriction of the aspect such as property is little, man-machine harmony is difficult.Therefore, the level of professional operative doctor to be reached, need compared with for traditional operation
Want study and the training of longer time.Meanwhile, in traditional operative training, intern is often in veteran doctor
After demonstration, the objects such as manikin, corpse, animal are practised.However, manikin sense of reality is not, corpse resource-constrained
And expensive, animal live soma and structure are differed greatly with human body.
Then occurred as soon as the analog simulation training system with Minimally Invasive Surgery as source, emulated in most analogue system
Degree is not high, on the one hand because dummy model is not true to nature, and further aspect is that the feedback really degree of power in simulated operation.Cause
Be in minimal invasive surgical procedures, doctor be not only rely on vision come to judge apparatus and body cavity's inwall relative position and
Optimal operating position, and be to rely on feel to be used as processing a criterion of focus point when more.So
In traditional motor feedback cannot image simulation in real human body apparatus and during cavity inner wall negotiation produced beformable body become
The force of shape, makes operator lose the culture to feel, does not reach the effect of simulation training.
The study of clinical operation and training are in a medical teaching field always difficult problem, because this life being related to people is pacified
Entirely, learn in patient and training is absolutely not.Animal and obduction no doubt can play certain exercise effect,
But there is very big difference after all with real clinical operation.Therefore, three-dimensional simulation simulation training system just arises at the historic moment.But it is traditional
Motor feedback in cannot image simulation apparatus and produced beformable body deformation during cavity inner wall negotiation in real human body
Force, makes operator lose the culture to feel, does not reach the effect of simulation training.The present invention utilizes specially designed hardware to tie
Structure, emulation operating theater instruments, sensor and force feedback structure is combined, reaches the mould of the various clinical operation of analogue simulation
Fit the system of training effect.
The applicant once disclosed the patent of invention of a Patent No. ZL201320068523.0, name in 2013.11.27
For " a kind of force feedback endoscopic surgery training devicess ", its scheme employs a kind of magnetive attraction feed back control system, by driving
Circuit makes force feedback coil electricity produce the certain electric field of electric current, and then produces a magnetic similar to true cavity inner wall sense of touch
, so that medical professional training person really experiences the true feel of operation process in learning process.But when actually used,
Find that this training devices has problem of dtmf distortion DTMF, need action bars just can excite force feedback after contacting cavity inner wall model, have
So that handle motion process lacks sense of reality, handle motion process is unable to complete monitoring, handle image meeting to certain hysteresis quality simultaneously
The phenomenons such as generation is beated, play, have had a strong impact on training effect.
Content of the invention
In place of overcoming the deficiencies in the prior art, the present invention provides a kind of endoscope's simulation training with soft force feedback
System, to solve the technical problem of prior art presence.
The technical solution adopted in the present invention is：A kind of endoscope's simulation training system with soft force feedback, this is
System includes：
One three-dimensional rotating operation platform, described three-dimensional rotating operation platform horizontally rotates support by a vertical rotation support and one
Composition, wherein, described horizontally rotate support include base, turntable and two clamping plates composition, be provided with vertical shaft in the middle of described base,
Described turntable is provided with a centre bore, and in the hole is provided with bearing, and described turntable suit is described vertical shaft, and described vertical shaft upper end is worn
Cross described turntable centre bore and couple with the horizontal direction Circular gratings rotary encoder being fixed on described turntable upper surface；Described
Vertical rotation support includes an operating theater instruments fixed plate and U-bracket, and described operating theater instruments fixed plate both sides are respectively provided with a horizontal stroke
Axle, inserts in the through hole in described U-bracket vertical plates on both sides respectively, and two pieces of described clamping plate and institute are passed through in described U-bracket bottom
State turntable to be fixed as one, be bolted between two pieces of described clamping plate；A piece transverse axis of described operating theater instruments fixed plate
Outer end is affixed with the above-below direction Circular gratings rotary encoder of the side being arranged at described U-bracket, and described operating theater instruments are fixed
Another transverse axis outer end of plate is affixed with the above-below direction electromagnetic brake being fixed on described U-bracket opposite side；
One is fixed on the CTVE operating theater instruments on this three-dimensional rotating operation platform, including operation handle and being attached thereto
Stick, equipped with a linear bearing, described linear bearing is fixed on described operating theater instruments fixed plate to described stick outer cover
Upper end；The periphery of described stick is provided with tooth bar, has a breach in the middle of described linear bearing bottom, and breach is built with one
Spur gear, this spur gear is engaged with the periphery tooth bar of described stick；Described spur gear is coaxially equipped with upper conical gear and front
Rear direction Circular gratings rotary encoder, the two is located at the both sides of described linear bearing respectively；Conical gear and lower circular cone tooth on this
Wheel engagement；Described lower conical gear is fixed on a magnetic shaft end, and described operating theater instruments are fixed in this magnetic axle lower end and one
Permanent magnetism ferropexy cylindrical moveable connection in fixed plate, described permanent magnetism ferropexy bottom of cylinder passes through screw and fore-and-aft direction electromagnetism
Brake is fixedly connected；Three blind holes substantially arranging in line, described magnetic is had in described permanent magnetism ferropexy cylinder bore
Property axle bottom is installed in central blind hole, can be freely rotatable in this central blind hole；All solid in the blind hole of described central blind hole both sides
Surely there is permanent magnet, 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 is solid
Determine cylinder to be adsorbed on described magnetic axle, described permanent magnetism ferropexy cylinder two ends are positioned by bearing block, can be with described magnetic axle
Rotate together；
Described magnetic axle is relied on together with magnetic-adsorption with described permanent magnetism ferropexy cylinder, is being unsatisfactory for producing force feedback
During condition, the rotor of permanent magnetism ferropexy cylinder and fore-and-aft direction electromagnetic brake is with magnetic axle synchronous axial system, fore-and-aft direction electromagnetism
The stator of brake is fixed in the mounting seat in operating theater instruments fixed plate；Once running into condition (the i.e. needs meeting force feedback
There is force feedback) when, the signal of telecommunication can be passed to fore-and-aft direction electromagnetic brake by Single Chip Microcomputer (SCM) system, and electromagnetic brake typically adopts
Electromagnetic powder brake, forms magnetic field during magnetizing coil energising, magnetic powder magnetizes under the action of a magnetic field, forms magnetic powder chain, and solid
Fixed magnetic conductor is polymerized between rotor, and the adhesion by magnetic powder and frictional force realize braking.When exciting curent disappears, magnetic powder is in
Free loose condition (of surface), braking action releases.This brake small volume, lightweight, exciting power is little, and braking moment with turn
Moving part rotating speed is unrelated, is easy to automatically control it is adaptable to the drive system of various machine.Stop after fore-and-aft direction electromagnetic brake is locked
Spin-ended turn, described permanent magnetism ferropexy cylinder is also locked, and the magnetic axle of so original synchronous rotary will be with the permanent magnet of both sides
There is relative motion, handle end just may feel that the suction producing because magnetic pole separates that magnetic axle passes over, thus reaching
The effect of soft force feedback, after handle stops operation, the permanent magnet in both sides for the described magnetic axle automatically resets under attracting.
One magnetive attraction feed back control system, including Single Chip Microcomputer (SCM) system, the signal input part of described Single Chip Microcomputer (SCM) system respectively with
Described above-below direction Circular gratings rotary encoder, fore-and-aft direction disk light beam encoder and horizontal direction Circular gratings rotary encoder
Signal output part connect, for receiving the rotation parameter that sends of three described Circular gratings rotary encoders；Described single-chip microcomputer system
The signal output part of system is connected with the control end of described fore-and-aft direction electromagnetic brake, above-below direction electromagnetic brake respectively, uses
In the state switching controlling two described electromagnetic brakes.
Stick periphery is designed to rack form, freely does linear reciprocating motion under the supporting of linear bearing, behaviour
The tooth bar of vertical pole is engaged with spur gear, and this makes the linear motion of handle be converted into circular motion, is co-axially mounted with spur gear
Fore-and-aft direction Circular gratings rotary encoder just can obtain the stretching of instrument handle by reading the parameter of spur gear circular motion
Contracting kinematic parameter.Meanwhile, above-below direction Circular gratings rotary encoder can obtain the operational factor in front and back of operating theater instruments fixed plate, water
Square can obtain the horizontal rotation parameter of operating theater instruments fixed plate to Circular gratings rotary encoder, handle is in the fortune of three degree of freedom
All by above three encoder feedback to single-chip microcomputer, handle position parameter is substituted into surgical simulation scene to dynamic parameter by single-chip microcomputer,
And show that handle moves in virtual human model on a display screen, when handle position parameter error, touch virtual people
Body region, single-chip microcomputer sends control signal, controls corresponding electromagnetic brake brake, makes handle produce force feedback.Above-mentioned three
The grating disc that individual grating encoder adopts is and is circumferentially divided into 1000 units, and precision can meet emulation clamp completely
Displacement detecting need.
Beneficial effect：1. the system is simple and reasonable, and volume is relatively small, 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 allows for handss
Motion of handle can pass to analog image in real time, and process is soft true, do not have beat, the phenomenon such as play.
3. model exquisiteness true to nature.The system specially simulated effect according to real operation video frequency board design, either
The force feedback sensation of handle or visual experience, all ideally reduce the truly feels of clinical operation very much.
Brief description
The invention will be further described in conjunction with the embodiments with reference to the accompanying drawings.
Fig. 1 is the structural representation of the present invention,
Fig. 2 is the partial enlarged drawing of the present invention,
Fig. 3 is magnetive attraction feedback arrangement top view,
Fig. 4 is magnetive attraction feedback arrangement sectional view,
Fig. 5 is CTVE operating theater instruments.
In figure：1 is linear bearing, and 2 is stick turn-sensitive device, and 3 is clamp sensor, and 4 is bearing bracket stand, and 5 is epicone
Gear, 6 it is lower bevel gear, 7 is the gear support of bearing, 8 permanent magnetism ferropexy cylinders, and 9 is the lower gear support of bearing, and 10 is straight-tooth
Wheel, 11 is fore-and-aft direction electromagnetic brake, and 12 is above-below direction Circular gratings rotary encoder, and 13 is operating theater instruments fixed plate, 14
It is above-below direction electromagnetic brake support, 15 above-below direction electromagnetic brakes, 16 above-below direction sports limiting bars, 17 is that grating is compiled
Code device support, 18 is fore-and-aft direction Circular gratings rotary encoder, and 19 are horizontally oriented Circular gratings rotary encoder, and 20 is clamping plate,
21 is cylindricality platform, and 22 is magnetic axle, and 23 is permanent magnet, and 24 is U-bracket, 25 handles, 26 sticks.
Specific embodiment
Referring to Fig. 1,2, as illustrated, a kind of endoscope's simulation training system with soft force feedback, this system includes：
One three-dimensional rotating operation platform, described three-dimensional rotating operation platform horizontally rotates support by a vertical rotation support and one
Composition, wherein, described horizontally rotate support and include base, cylindricality platform 21 and two clamping plates 20 form, be provided with the middle of described base
Vertical shaft, described cylindricality platform 21 is provided with a centre bore, and in the hole is provided with bearing, and described cylindricality platform 21 suit is on described vertical shaft, institute
State vertical shaft upper end pass through described cylindricality platform 21 centre bore, and be fixed on the horizontal direction Circular gratings of described cylindricality platform 21 upper surface
Rotary encoder 19 couples；
Described vertical rotation support includes an operating theater instruments fixed plate 13 and U-bracket 24, described operating theater instruments fixed plate
13 both sides are respectively provided with a transverse axis, insert in the through hole in described U-bracket 24 vertical plates on both sides respectively, described U-bracket 24 bottom
Portion is fixed as one with described cylindricality platform 21 by two pieces of described clamping plate 20, is bolted between two pieces of described clamping plate 20；
A piece transverse axis outer end of described operating theater instruments fixed plate 13 and the above-below direction Circular gratings of the side being arranged at described U-bracket 24
Rotary encoder 12 is affixed, and another transverse axis outer end of described operating theater instruments fixed plate 13 is with to be fixed on described U-bracket 24 another
The above-below direction electromagnetic brake 15 of side is affixed, and 14 is above-below direction electromagnetic brake support.U-bracket 24 front portion is provided with
Lower direction sports limiting bar 16, spacing for operating theater instruments fixed plate 13.
One be fixed on described solid rotating operation platform on CTVE operating theater instruments 2, including operation handle 25 and with
Connection stick 26, described stick 26 outer cover is fixed on described handss equipped with a linear bearing 1, described linear bearing 1
The upper end of art apparatus fixed plate 13；The periphery of described stick 26 is provided with tooth bar, has one in the middle of described linear bearing 1 bottom
Breach, breach is engaged with the periphery tooth bar of described stick 26 built with a spur gear 10, this spur gear 10；Described spur gear
10 coaxially equipped with upper conical gear 5 and fore-and-aft direction Circular gratings rotary encoder 18, and the two is located at described linear bearing 1 respectively
Both sides；On this, conical gear 5 is engaged with lower conical gear 6.
Described lower conical gear 6 is fixed on magnetic axle 22 end, and described handss are fixed in this magnetic axle 22 lower end and one
Permanent magnetism ferropexy cylinder 8 in art apparatus fixed plate 13 is actively coupled, described permanent magnetism ferropexy cylinder 8 bottom pass through screw with front
Rear direction electromagnetic brake 11 is fixedly connected.
As shown in figure 3, described permanent magnetism ferropexy cylinder is aluminum cylindrical part, centre has three and is substantially arranged in always
The blind hole of line, described magnetic axle 22 bottom is installed in central blind hole, can be freely rotatable in this central blind hole；Described center is blind
It is respectively and fixedly provided with permanent magnet 23, the magnetic pole of described permanent magnet 23 is relative with the magnetic pole opposite sex of described magnetic axle 22 in the blind hole of hole both sides
(as shown in Figure 4), by magnetic force, described permanent magnetism ferropexy cylinder 8 is adsorbed on described magnetic axle 22, described permanent magnetism ferropexy
The gear support of bearing 7 is passed through at cylinder 8 two ends and the lower gear support of bearing 9 positions, and can rotate with described magnetic axle 22.
Described magnetic axle 22 is relied on together with magnetic-adsorption with described permanent magnetism ferropexy cylinder 8, and being unsatisfactory for, generation power is anti-
During the condition of feedback, the rotor of permanent magnetism ferropexy cylinder 8 and fore-and-aft direction electromagnetic brake 11 with magnetic axle 22 synchronous axial system, in front and back
The stator of direction electromagnetic brake 11 is fixed in the mounting seat in operating theater instruments fixed plate 13；Once run into meeting force feedback
During condition (needing force feedback), the signal of telecommunication can be passed to fore-and-aft direction electromagnetic brake 11, electromagnetism by Single Chip Microcomputer (SCM) system
Brake typically adopts electromagnetic powder brake, forms magnetic field, magnetic powder magnetizes under the action of a magnetic field, formed during magnetizing coil energising
Magnetic powder chain, and be polymerized between rotor in fixing magnetic conductor, the adhesion by magnetic powder and frictional force realize braking.Exciting curent disappears
During mistake, magnetic powder is in free loose condition (of surface), and braking action releases.This brake small volume, lightweight, exciting power is little, and
Braking moment is unrelated with tumbler rotating speed, is easy to automatically control it is adaptable to the drive system of various machine.Fore-and-aft direction electromagnetism is stopped
Stop the rotation after car device 11 is locked, described permanent magnetism ferropexy cylinder 8 is also locked, and the magnetic axle 22 of so original synchronous rotary is just
With the permanent magnet 23 of both sides, relative motion can occur, what handle 25 end just may feel that magnetic axle 22 passes over separates because of magnetic pole
And the suction producing, thus reaching the effect simulating soft force feedback, after handle 25 stops operation, described magnetic axle 22 is in both sides
Permanent magnet 23 attract under automatically reset.
Magnetive attraction feed back control system, including Single Chip Microcomputer (SCM) system, the signal input part of described Single Chip Microcomputer (SCM) system respectively with institute
State above-below direction Circular gratings rotary encoder 12, fore-and-aft direction disk light beam encoder 18 and horizontal direction Circular gratings rotary coding
The signal output part of device 19 connects, for receiving the rotation parameter that three described Circular gratings rotary encoders send；Described monolithic
The signal output part of the machine system control end with described fore-and-aft direction electromagnetic brake 11, above-below direction electromagnetic brake 15 respectively
Connect, for controlling the state switching of two described electromagnetic brakes.
The system can complete the analog simulation training of multiple section office operation project.Herein with peritoneoscope Minimally Invasive Surgery
As a example Cholecystectomy.Need in laparoscopic procedures to operate two handles 25 using both hands, in addition also one simultaneously
Endoscope probes in patient body by minimally invasive wound and observes.Therefore system in terms of overall structure by two devices holds and centre
Endoscope support constitute.Devices hold structure is more complicated, mainly by holder part, apparatus work support with running part,
Data read portion and force feedback part composition.Endoscope's support is more relatively easy, does not have force feedback, and its effect is mainly
Adjust the visual field and angle：Simulated endoscope such as advances, retreats and rotates at the action.Reciprocal fortune under the supporting of the online bearing of handle 25
Dynamic is the real apparatus fore-and-aft direction motion of simulation, and handle 2525 motion passes through sensor feedback to single-chip microcomputer, in display screen
Above just it is observed that handle 25 moves in digital model.In order that emulation is more true, the system also simulates and performed the operation
The resistance sense of tissue is encountered, i.e. force feedback in journey.In the present system, the mode of force feedback uses magnetic force feedback.This
The advantage of magnetic force feedback is soft, stable, and reliable, high precision.In the system, meet in following several condition
One, all can trigger force feedback effect：1. in operating process, handle 25 encounters the tissue that should not encounter and organ；2. according to software
Illustrate to touch the key point needing touching；3. when cutting unwanted tissue using simulation electric knife.
The electromagnetic brake locked time can also be arranged by software, can select locked always locked with moment right
The different mode such as unblock afterwards.(motion of above-below direction and left and right directions, transmission, sensor and force feedback with above-mentioned explanation in the same manner,
Here does not repeat one by one)
The Circular gratings adopting in the present invention are circumferentially divided into 1000 units, and precision can meet emulation clamp completely
Displacement detecting.Followed by hardware and parametrization threedimensional model, effect is really true to life.The model built up is placed on a space
In coordinate system, it is divided into several units in X, Y, Z-direction, these units are in software with emulating the space bit of operating theater instruments
The parameterized model that shifting scope respectively obtains is corresponding with emulation apparatus model unit.
As shown in figure 5, clamp sensor 3 is three foot rotational potentiometers, wherein common end grounding, the both sides of handle 25 are respectively
It is connected on the two ends of potentiometer variable resistance.This potentiometer can detect and the kinematic parameter of handle 25 is passed to single-chip microcomputer.In figure
Stick turn-sensitive device 2 be also principle using potentiometer.When stick 26 moves forward and backward, will be produced by code sensor 18
Raw y-component, produces z-component by code sensor 12 when rotating upwardly and downwardly, produces x-component by code sensor 12 when horizontally rotating.
The α component being produced by clamp sensor 3 when simultaneously coordinating upper handle 25 closure again and stick 26 drive stick rotation when rotating
Turn the β component of sensor 2 generation, go by cable synchronous transfer to Single Chip Microcomputer (SCM) system, and mathematical model is combined, thus
Constitute a string vector shift array (x, y, z, α, β), control device model carries out the 5D fortune with manipulation of physical bar 26 same trajectories
Dynamic.
The displacement of the 5D motion that above mechanical part is realized changes into digital vector signal by sensor, according to letter
Number size, to realize the modelling effect of high emulation, that is, using optimizing accurate oriented bounding box (OBB) collision detection algorithm, is come real
The position calculation of existing operating theater instruments and human organ model and deformation effect, and show in real time on a display screen.
Oriented bounding box (OBB) is a cuboid, similar to AABB, but has directivity.There is the expression of multiple OBB
Mode：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, with
And central point, a spin matrix and 3 1/2 length of sides.Generally, finally a kind of expression way is the most commonly used, and with other tables
The mode of reaching is compared, and between its OBB, test for intersection is more convenient.
Below taking three plane collision detection as a example, to be realized using OBB collision detection optimized algorithm, if plane p1, to deposit
In 5 kinds of different intersecting probabilities：
1. 3 interplanars are parallel to each other to (being likely to coplanar)；
2. to run through two planes parallel, thus forming two intersections being parallel to each other for plane；
3. 3 planes intersect at straight line；
4. intersect at straight line each other two-by-two between 3 planes；
5. 3 planes intersect at a point.
3 planes defined below.p1：n1X=d1,p2：n2X=d2,
p3：n3X=d3.For above-mentioned intersection " 1 ", then there is n1·(n2×n3)=0, other states can also be similar to
Method is defined.Wherein, when plane intersects at a point X=(x1,x2,x3) when, can by plane equation be considered as one 3 × 3 linear
Equation group, and solve this intersection point：
n1X=d1
n2X=d2
n3X=d3
Available Gaussian elimination method or equation group is solved according to determinant and Cramer's rule.Order According to Cramer's rule, Xie Wei：
x1=| d m1m3|/|m1m2m3|
x2=| m1d m3|/|m1m2m3|
x3=| m1m2d|/|m1m2m3|
Wherein, d=[d1d2d3]T.
The most widely suited calculation expression of selection can letter to be multiplexed some calculating formula scalar triple products as far as possible
Turn to：
x1=d u/denom
x2=m3·v/denom
x3=-m2·v/denom
Wherein, u=m2×m3, v=m1× d, denom=m1×m1×u.
In sum, by the combination of hardware, software, model and sensing device, emulation instrument handle 25 is occurring
During displacement, photoelectric encoder is converted into the signal of telecommunication by reading the data message of photoelectricity Circular gratings rotary encoder feedback, transmission
It is analyzed to Single Chip Microcomputer (SCM) system, and is transferred to background program by interface circuit synchronizing them, handle 25 is occurred space bit
The every bit moving defines to each coordinate of parameterized surgery models, this completes hardware, software and digiial mould
Data interaction, can ideally by the whole process of abdominal operation by the system demonstration complete.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, permissible
Understand and can carry out multiple changes, modification, replacement to these embodiments without departing from the principles and spirit of the present invention
And modification, the scope of the present invention be defined by the appended.
Claims (5)
1. a kind of endoscope's simulation training system with soft force feedback is it is characterised in that this system is included with lower component：
One three-dimensional rotating operation platform, described three-dimensional rotating operation platform horizontally rotates support group by a vertical rotation support and one
Become, wherein, described horizontally rotate support include base, turntable and two clamping plates composition, be provided with vertical shaft, institute in the middle of described base
State turntable and be provided with a centre bore, in the hole is provided with bearing, described turntable suit is described vertical shaft, and described vertical shaft upper end passes through
Described turntable centre bore is coupled with the horizontal direction Circular gratings rotary encoder being fixed on described turntable upper surface；Described vertical
Straight swinging mounting includes an operating theater instruments fixed plate and U-bracket, and described operating theater instruments fixed plate both sides are respectively provided with a transverse axis,
Insert in the through hole in described U-bracket vertical plates on both sides respectively, two pieces of described clamping plate and described turn are passed through in described U-bracket bottom
Dynamic platform is fixed as one, and is bolted between two pieces of described clamping plate；A piece transverse axis outer end of described operating theater instruments fixed plate
Affixed with the above-below direction Circular gratings rotary encoder of the side being arranged at described U-bracket, described operating theater instruments fixed plate
Another transverse axis outer end is affixed with the above-below direction electromagnetic brake being fixed on described U-bracket opposite side；
One is fixed on the CTVE operating theater instruments on this three-dimensional rotating operation platform, including operation handle and the behaviour being attached thereto
Vertical pole, equipped with a linear bearing, described linear bearing is fixed on the upper of described operating theater instruments fixed plate to described stick outer cover
End；The periphery of described stick is provided with tooth bar, has a breach, breach is built with a straight-tooth in the middle of described linear bearing bottom
Wheel, this spur gear is engaged with the periphery tooth bar of described stick；Described spur gear is coaxially equipped with upper conical gear and front and back
To Circular gratings rotary encoder, the two is located at the both sides of described linear bearing respectively；On this, conical gear and lower conical gear are nibbled
Close；Described lower conical gear is fixed on a magnetic shaft end, and this magnetic axle lower end is fixed on described operating theater instruments with one and is fixed
Permanent magnetism ferropexy cylindrical moveable connection on plate, described permanent magnetism ferropexy bottom of cylinder passes through screw and fore-and-aft direction electromagnetic brake
Device is fixedly connected；Three blind holes substantially arranging in line, described magnetic axle is had in described permanent magnetism ferropexy cylinder bore
Bottom is installed in central blind hole, can be freely rotatable in this central blind hole；It is respectively and fixedly provided with the blind hole of described central blind hole both sides
Permanent magnet, the magnetic pole of described permanent magnet is relative with the magnetic pole opposite sex of described magnetic axle, is justified described permanent magnetism ferropexy by magnetic force
Cylinder is adsorbed on described magnetic axle, and described permanent magnetism ferropexy cylinder two ends are positioned by bearing block, can be with described magnetic axle
Rotate；
One magnetive attraction feed back control system, including Single Chip Microcomputer (SCM) system, the signal input part of described Single Chip Microcomputer (SCM) system respectively with described
Above-below direction Circular gratings rotary encoder, fore-and-aft direction Circular gratings rotary encoder and horizontal direction Circular gratings rotary encoder
Signal output part connect, for receiving the rotation parameter that sends of three described Circular gratings rotary encoders；Described single-chip microcomputer system
The signal output part of system is connected with the control end of described fore-and-aft direction electromagnetic brake, above-below direction electromagnetic brake respectively, uses
In the state switching controlling two described electromagnetic brakes.
2. there is endoscope's simulation training system of soft force feedback according to claim 1 it is characterised in that：Described upper and lower
Bearing circle raster rotary coder, fore-and-aft direction Circular gratings rotary encoder and horizontal direction Circular gratings rotary encoder adopt
Grating disc be all circumferentially divided into 1000 units.
3. there is according to any one of claim 1-2 endoscope's simulation training system of soft force feedback it is characterised in that：
Described permanent magnetism ferropexy cylinder is aluminum cylindrical part.
4. there is according to any one of claim 1-2 endoscope's simulation training system of soft force feedback it is characterised in that：
Described U-bracket front portion is provided with above-below direction sports limiting bar, spacing for described operating theater instruments fixed plate.
5. there is according to any one of claim 1-2 endoscope's simulation training system of soft force feedback it is characterised in that：
Described fore-and-aft direction electromagnetic brake, above-below direction electromagnetic brake are electromagnetic powder brake.
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| CN201410802442.8A CN104537938B (en) | 2014-12-21 | 2014-12-21 | Endoscope simulative training system capable of achieving flexible force feedback |
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| CN201410802442.8A CN104537938B (en) | 2014-12-21 | 2014-12-21 | Endoscope simulative training system capable of achieving flexible force feedback |
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| 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 |
| 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 |
| CN113012516B (en) * | 2021-03-11 | 2022-12-20 | 东南大学 | Three-freedom-degree force feedback handle comprising two vertically-staggered shafts |
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