CN104916212A - Endoscope simulation device and application of endoscope simulation device in minimally invasive surgery training system - Google Patents
Endoscope simulation device and application of endoscope simulation device in minimally invasive surgery training system Download PDFInfo
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- CN104916212A CN104916212A CN201510368795.6A CN201510368795A CN104916212A CN 104916212 A CN104916212 A CN 104916212A CN 201510368795 A CN201510368795 A CN 201510368795A CN 104916212 A CN104916212 A CN 104916212A
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- 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
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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Abstract
The invention discloses an endoscope simulation device and an application of the endoscope simulation device in a minimally invasive surgery training system. The endoscope simulation device is characterized in that the two-dimensional rotating vertical shaft system of a speculum main frame plate is formed by a speculum pitch shaft and a speculum course shaft; the speculum main frame plate is arranged on the two-dimensional rotating vertical shaft system, a speculum detecting rod base is arranged on the speculum main frame plate, and engaged transmission of a speculum detecting rod arranged in the speculum detecting rod base and a speculum transmission gear is realized via a gear rack; the speculum transmission gear is driven to axially rotate by axial movement of the speculum detecting rod in the speculum detecting rod base via the speculum transmission gear; the front end of the speculum detecting rod is provided with a detecting rod head, and the tail end is connected with a speculum potentiometer to act as an operation handle; and flexible damping is formed by all flexible damping positioning devices between the speculum detecting rod and the speculum detecting rod base and in the two-dimensional rotating shaft system. Hand feelings and skills of surgeons participating in training can be rapidly enhanced by the endoscope simulation device.
Description
Technical field
The present invention relates to endoscope analogue means and the application in Minimally Invasive Surgery training system thereof, for carrying out simulated training to Minimally Invasive Surgery.
Background technology
Minimally Invasive Surgery is little with wound, pain is light, hemorrhage less, recover fast distinguishing feature, with the theory of the misery of the patient that at utmost shows a patient every consideration, alleviates more and more by people are paid attention to.Along with the raising of the endoscopes such as laparoscope, thoracoscope, hysteroscope and various operation tool manufacturing accuracy, take computing machine as visual pattern process and the real time monitoring development of core, Minimally Invasive Surgery technology is increasingly mature, and compare traditional surgery has and apply more widely in general outer, uropoiesis, orthopaedics, face, gynaecology etc.Compare traditional operation, Minimally Invasive Surgery requires very high to the medical technologies of doctor, and the technical ability effectively improving Minimally Invasive Surgery doctor especially beginner is fast very crucial.
Endoscope is that one enters human body through various pipeline, observe the optical instrument of human body internal state, its integrated cold light source camera lens, fiber optic wire, graphic transmission system, on-screen display system etc., can expand surgical field of view, assist a physician intuitively and accurately and carry out related surgical.The outstanding feature of endoscope be can see pathology that X ray can not show, operative incision is little, after-operation response is light, hemorrhage, the livid purple and swelling time greatly reduces, and recovers comparatively traditional operation fast, meets very much the requirement of the beautiful not trace of aesthetic surgery.Endoscope, as the vision system of people, plays a part indispensable in micro-wound surgical operation.
At corpse resource-expensive and rare, injury animal, in the situation such as manikin realism is inadequate, operating theater instruments is expensive, Minimally Invasive Surgery analogue means is fast-developing, but the Minimally Invasive Surgery device of complete set lacks endoscope, and guiding is not all right far away, simultaneously a whole set of endoscopic system somewhat expensive, therefore corresponding endoscope analogue means particularly demand.
Summary of the invention
The invention provides a kind of endoscope analogue means and the application in Minimally Invasive Surgery training system thereof, to bringing the effect of getting twice the result with half the effort for micro-wound surgical operation training, high surgical feel and the technical ability of participating in training of accurate Quick.Especially can Reality simulation endoscope probe in the action of the body internal degree of freedom, high emulation touching human body force feedback effect, and can loose one's grip behind visual angle endoscope being adjusted to needs and can keep endoscope visual angle stability.
The present invention is that technical solution problem adopts following technical scheme:
The design feature of endoscope analogue means of the present invention is described endoscope analogue means is the endoscope analogue means of locating based on flexible damping arranged by following form:
For supporting, sight glass course axle is set with sight glass base in Z-direction, described sight glass course axle is equipped with sight glass " U " shape seat, and described sight glass " U " shape seat can rotate around sight glass course axle on the axle of described sight glass course in surface level, and described Z-direction is vertical direction;
With described sight glass " U " shape seat for support in X to arranging sight glass pitch axis, described endoscope pitch axis is equipped with sight glass main frame plate, and described sight glass main frame plate can on described sight glass pitch axis in perpendicular around sight glass pitch axes; The Two Dimensional Rotating vertical shaft series of sight glass main frame plate is formed with described sight glass pitch axis and described sight glass course axle;
With described sight glass main frame plate for support be fixedly installed sight glass feeler lever seat, in described sight glass feeler lever seat in X to arranging rotating sight glass driving gearshaft, described sight glass driving gearshaft is fixedly installed sight glass transmission gear; The sight glass feeler lever being arranged in sight glass feeler lever seat realizes engaged transmission by tooth bar and described sight glass transmission gear; The move axially through sight glass transmission gear of described sight glass feeler lever in sight glass feeler lever seat drives sight glass driving gearshaft to rotate; Described sight glass feeler lever runs through described sight glass feeler lever seat in front end and tail end, and with the front end of described sight glass feeler lever for feeler lever head, connects sight glass potentiometer as operating grip at the afterbody of described sight glass feeler lever;
Flexible damping positioning system is set, it comprises the first flexible damping locating device be arranged on sight glass driving gearshaft, the second flexible damping locating device be arranged on sight glass pitch axis, and is arranged on the 3rd flexible damping locating device on the axle of sight glass course; Described first flexible damping locating device forms flexible damping between sight glass feeler lever and sight glass feeler lever seat; Described second flexible damping locating device forms flexible damping between sight glass pitch axis and sight glass " U " shape seat; Described 3rd flexible damping locating device forms flexible damping between described sight glass course axle and sight glass " U " shape seat;
The design feature of endoscope analogue means of the present invention is also: arrange each grating encoder and read head respectively, for obtaining the angular displacement of sight glass pitch axis and sight glass course axle, and the axial displacement of sight glass feeler lever.
The design feature of endoscope analogue means of the present invention is also: arrange sight glass zero adjustment block, described sight glass zero adjustment block is fixed on a side of sight glass main support plate with its epimere, the bottom of described sight glass zero adjustment block is set to inverted trapezoidal end face, on the level table of sight glass base, correspondence is set to inverted trapezoidal groove, and what utilize described inverted trapezoidal end face and inverted trapezoidal groove coordinates the rotary stopper and back to zero that realize sight glass course axle and sight glass pitch axis.
The design feature of endoscope analogue means of the present invention is also: described 3rd flexible damping locating device is set with teflon gasket successively on the top of sight glass course axle, aluminium alloy pad, the spring axis of guide, Compress Spring and spring are blocked a shot, described spring block press-fits setting nut, described setting nut is threaded in the upper end of sight glass course axle, utilizes setting nut to compress described teflon gasket and form flexible damping between described sight glass course axle and sight glass " U " shape seat.
Minimally Invasive Surgery comprehensive training system of the present invention, it is characterized in that: in the central authorities of mounting base, endoscope analogue means according to claim 1 is installed, in the left side of described endoscope analogue means, left-hand side Minimally Invasive Surgery analogue means is installed, on the right side of described endoscope analogue means, right-hand side Minimally Invasive Surgery analogue means is installed, forms Minimally Invasive Surgery comprehensive training system.
Compared with the prior art, beneficial effect of the present invention is embodied in:
1, in the present invention, endoscope analogue means swing in three dimensions in vivo rotation, the up and down pitching of the true endoscope apparatus of simulated implementation can rotate, moves axially 4 mobile statuss around own axes revolution, front and back; Minimally-invasive surgery simulator can realize the motion of the utensil such as surgical clamp, scalpel three dimensions six-freedom degree in human body, and has super high-emulation touching human body force feedback effect;
2, the flexible damping detent mechanism that in the present invention, endoscope analogue means uses, the face combined based on spring and teflon plate rubs flexible damping principle, damping force size is adjustable, cost of manufacture is cheap, damping location in rotary course can be realized, rotate to location, endoscope visual angle after predetermined angular after ensureing, this flexible damping location technology is by among the field that is applied to widely.
3, utilize the present invention to can be implemented in software interface and emulate the various shift actions in body cavities such as urethrocystoscope, resectoscope, laparoscope, and provide real-time visual angle for surgical clamp, be extended to a perfect comprehensive Minimally Invasive Surgery training system.
4, the present invention adopts modular design, interchangeability strong, easy to maintenance, and feeler lever can be replaced by the subject utensil such as general outer, uropoiesis, orthopaedics, face, gynaecology easily, makes this Minimally-invasive surgery simulator adapt to the operative training of multidisciplinary.
5, the present invention is without the need to true expensive endoscope, and the entity such as human body and animal is practised, and can improve the medical technologies level of the doctor that undergoes training accurately and efficiently at corpse resource-expensive under the objective unfavorable factor such as rare, injury animal, manikin realism be inadequate.
6, volume of the present invention is little, with low cost, multiple functional, can be easily installed on chassis, portable convenient; Overlap Minimally Invasive Surgery analogue means of the present invention in the right layout of a first from left two, facilitate the compounding practice of doctor right-hand man, operate endoscope analogue means in conjunction with assistant, become a perfect comprehensive Minimally Invasive Surgery training system through vision guide easily extensible.
Accompanying drawing explanation
Fig. 1 is three-dimensional structure schematic diagram of the present invention;
Fig. 2 is Automatic manual transmission schematic diagram of the present invention;
Fig. 3 is Minimally Invasive Surgery comprehensive training system three-dimensional layout of the present invention schematic diagram;
Fig. 4 is Minimally Invasive Surgery analogue means three-dimensional structure schematic diagram in the present invention;
Fig. 5 is Minimally Invasive Surgery analogue means Automatic manual transmission schematic diagram in the present invention;
Fig. 6 is feeler lever force feedback part-structure schematic diagram in Minimally Invasive Surgery analogue means in the present invention;
Fig. 7 a is magnetic damper structural representation in Minimally Invasive Surgery analogue means in the present invention;
Fig. 7 b is magnetic damper principle schematic in Minimally Invasive Surgery analogue means in the present invention;
Number in the figure: 1 first cylindrical magnet, 2 second cylindrical magnets, 3 cylindrical shells, 4 holding screws, 5 end caps, 6 deep groove ball bearings, 7 axis, 8 zero adjustment blocks, 8a is " V " type end side, 8b is " V " type groove, 1-1 base, 1-2 course axle electromagnetic brake, 1-3 is " U " shape seat, 1-4 the 3rd magnetic damper, 1-5 course axle, 1-6 the 3rd grating encoder and read head, 1-7 pitch axis electromagnetic brake, 1-8 pitch axis, 1-9 second grating encoder and read head, 1-10 main frame plate, 1-11 second magnetic damper, 2-1 brake flange base, 2-2 electromagnetic brake disc, 2-3 damper bracing frame, 2-4 first magnetic damper, 2-5 magnetic damping output shaft, 2-6 first grating encoder and read head, 2-7 second bevel gear, 3-1 feeler lever seat, 3-2 transmission gear, 3-3 feeler lever, 3-4 first bevel gear, 3-5 surgical clamp, 3-6 potentiometer, 4-1 sight glass base, 4-2 sight glass the 3rd grating encoder and read head, 4-3 sight glass " U " shape seat, 4-4 sight glass course axle, the flexible damping locating device of 4-5 the 3rd, 4-6 teflon gasket, 4-7 aluminium alloy pad, the 4-8 spring axis of guide, 4-9 Compress Spring, 4-10 spring is blocked a shot, 4-11 setting nut, the flexible damping locating device of 4-12 second, 4-13 sight glass pitch axis, 4-14 sight glass first grating encoder and read head, 4-15 sight glass driving gearshaft, 4-16 sight glass transmission gear, 4-17 sight glass feeler lever, 4-18 sight glass feeler lever seat, 4-19 sight glass potentiometer, the flexible damping locating device of 4-20 first, 4-21 sight glass main frame plate, 4-22 sight glass second grating encoder and read head, 4-23 sight glass zero adjustment block, 4-23a inverted trapezoidal end face, 4-23b inverted trapezoidal groove, 9 mounting bases, 10-1 left-hand side Minimally Invasive Surgery analogue means, 10-2 right-hand side Minimally Invasive Surgery analogue means, 11 endoscope analogue means.
Embodiment
In the present embodiment, endoscope analogue means is the endoscope analogue means 11 of locating based on flexible damping arranged by following form:
See Fig. 1 and Fig. 2, for supporting, sight glass course axle 4-4 is set with sight glass base 4-1 in Z-direction, described sight glass course axle 4-4 is equipped with sight glass " U " shape seat 4-3, and described sight glass " U " shape seat 4-3 can rotate around sight glass course axle 4-4 on described sight glass course axle 4-4 in surface level, and described Z-direction is vertical direction;
With described sight glass " U " shape seat 4-3 for supporting in X to arranging sight glass pitch axis 4-13, described endoscope pitch axis 4-13 is equipped with sight glass main frame plate 4-21, and described sight glass main frame plate 4-21 can rotate around sight glass pitch axis 4-13 in perpendicular on described sight glass pitch axis 4-13; The Two Dimensional Rotating vertical shaft series of sight glass main frame plate 4-21 is formed with described sight glass pitch axis 4-13 and described sight glass course axle 4-4;
With described sight glass main frame plate 4-21 for support be fixedly installed sight glass feeler lever seat 4-18, in described sight glass feeler lever seat 4-18 in X to arranging rotating sight glass driving gearshaft 4-15, described sight glass driving gearshaft 4-15 is fixedly installed sight glass transmission gear 4-16; The sight glass feeler lever 4-17 being arranged in sight glass feeler lever seat 4-18 realizes engaged transmission by tooth bar and described sight glass transmission gear 4-16; The move axially through sight glass transmission gear 4-16 of described sight glass feeler lever 4-17 in sight glass feeler lever seat 4-18 drives sight glass driving gearshaft to rotate; Described sight glass feeler lever 4-17 runs through described sight glass feeler lever seat 4-18 in front end and tail end, and with the front end of described sight glass feeler lever 4-17 for feeler lever head, connects sight glass potentiometer 4-19 as operating grip at the afterbody of described sight glass feeler lever 4-17.
Specifically utilize screw to be fixedly connected with the output shaft of sight glass potentiometer 4-19 with the afterbody of sight glass feeler lever 4-17, both guarantees are without relatively rotating; Using the shell of sight glass potentiometer 4-19 as operating grip, during operation, the shell of sight glass potentiometer 4-19 rotates relative to sight glass feeler lever 4-17, and simulated implementation endoscope rotates and the real-time measurement of the anglec of rotation around own axes.
In the present embodiment, engaged transmission is realized by tooth bar and sight glass transmission gear 4-16 with sight glass feeler lever 4-17, while the axial displacement meeting sight glass feeler lever 4-17, by the engagement of cylinder rack-pinion, the rectilinear motion of feeler lever can also be become circumference of gear motion, the axial displacement measurement and the axial damping that significantly solve the 190mm stroke feeler lever when installing space is limited are difficult to the direct difficult problem implemented.
Flexible damping positioning system is set, it comprises the first flexible damping locating device 4-20 be arranged on sight glass driving gearshaft 4-15, the second flexible damping locating device 4-12 be arranged on sight glass pitch axis 4-13, and is arranged on the 3rd flexible damping locating device 4-5 on the axle 4-4 of sight glass course; Described first flexible damping locating device 4-20 forms flexible damping between sight glass feeler lever 4-17 and sight glass feeler lever seat 4-18; Described second flexible damping locating device 4-12 forms flexible damping between sight glass pitch axis 4-13 and sight glass " U " shape seat 4-3; Described 3rd flexible damping locating device 4-5 forms flexible damping between described sight glass course axle 4-4 and sight glass " U " shape seat 4-3;
In concrete enforcement, corresponding vibrational power flow also comprises:
Each grating encoder and read head are set respectively, for obtaining the angular displacement of sight glass pitch axis 4-13 and sight glass course axle 4-4, and the axial displacement of sight glass feeler lever 4-17.As shown in Figure 2, sight glass the 3rd grating encoder and the read head 4-2 of the angular displacement for obtaining sight glass course axle 4-4 are set between the lower end of sight glass course axle 4-4 and sight glass " U " shape seat 4-3; Sight glass second grating encoder of angular displacement for obtaining sight glass pitch axis 4-13 and read head 4-22 are set, and for sight glass first grating encoder of the axial displacement that obtains sight glass feeler lever 4-17 and read head 4-14; Adopt contactless grating code-disc and read head to realize unlimited angle of circumference to measure, its precision is high, cost is low, structure is simple, volume is little, be easy to installation, signal not by the interference such as temperature and magnetic field.
Sight glass zero adjustment block 4-23 is set, described sight glass zero adjustment block 4-23 is fixed on a side of sight glass main support plate 4-21 with its epimere, the bottom of described sight glass zero adjustment block 4-23 is set to inverted trapezoidal end face 4-23a, on the level table of sight glass base 4-1, correspondence is set to inverted trapezoidal groove 4-23b, and what utilize described inverted trapezoidal end face and inverted trapezoidal groove coordinates the rotary stopper and back to zero that realize sight glass course axle 4-4 and sight glass pitch axis 4-13.Initial zero calibration device using sight glass zero adjustment block 4-23 as sight glass course axle 4-4 and sight glass pitch axis 4-13, can realize device zero that is rapid, high position precision.
As shown in Figure 2, 3rd flexible damping locating device 4-5 is set with teflon gasket 4-6 successively on the top of sight glass course axle 4-4, aluminium alloy pad 4-7, spring axis of guide 4-8, Compress Spring 4-9 and spring block 4-10, described spring block 4-10 press-fits setting nut 4-11, described setting nut 4-11 is threaded in the upper end of sight glass course axle 4-4, utilize setting nut 4-11 to compress described teflon gasket 4-6 and form flexible damping between described sight glass course axle 4-4 and sight glass " U " shape seat 4-3, setting nut 11 achieves the adjustable of flexible damping force.Shown in Fig. 2 first flexible damping locating device and the second flexible damping locating device have corresponding version.By the rotary dampening mechanism of three groups of axle systems, achieve swing rotation, up and down pitching rotation, front and back, endoscope camera lens visual angle respectively and move axially the adjustable flexibility damping location of three direction of motion.
In the present embodiment, by the rotary dampening mechanism of three groups of axle systems, achieve swing rotation, up and down pitching rotation, front and back, endoscope camera lens visual angle respectively and move axially the adjustable flexibility damping location of 3 direction of motion, really realization operation can control the damping location at endoscope visual angle, optional position, ensure the stable of endoscope visual angle.
See Fig. 3, in the present embodiment, Minimally Invasive Surgery comprehensive training system is the endoscope analogue means 11 fixedly mounted in the central authorities of mounting base 9 in the present embodiment, left-hand side Minimally Invasive Surgery analogue means 10-1 is installed with in the left side of described endoscope analogue means 11, be installed with right-hand side Minimally Invasive Surgery analogue means 10-2 on the right side of described endoscope analogue means 11, form the Minimally Invasive Surgery comprehensive training system of complete set.
In concrete enforcement, mounting base 9 can be configured on chassis or operating table, whole surgical simulation needs operative doctor and assistant two people to coordinate, doctor is with left hand behaviour left-hand side Minimally Invasive Surgery analogue means 10-1, with right-hand operated right-hand side Minimally Invasive Surgery analogue means 10-2, assistant operates endoscope analogue means 11, for doctor provides Viewing-angle information in body cavity accurately, coordinates doctor to carry out Minimally Invasive Surgery training.
In the present embodiment, left hand behaviour left-hand side Minimally Invasive Surgery analogue means 10-1 and right hand behaviour left-hand side Minimally Invasive Surgery analogue means 10-2 has identical version, is set to the Minimally-invasive surgery simulator based on magnetic damper of following form:
Shown in Fig. 4, Fig. 5 and Fig. 6, Minimally-invasive surgery simulator based on magnetic damper arranges course axle 1-5 for supporting in Z-direction with base 1-1, course axle 1-5 is equipped with " U " shape seat 1-3, and " U " shape seat 1-3 can deviate from voyage route to axle 1-5 and rotate on the axle 1-5 of course in surface level, and Z-direction is vertical direction.
With " U " shape seat 1-3 for support in X to arranging pitch axis 1-8, pitch axis 1-8 is equipped with main frame plate 1-10, and main frame plate 1-10 can rotate around pitch axis 1-8 in perpendicular on pitch axis 1-8; The Two Dimensional Rotating vertical shaft series of main frame plate 1-10 is formed with pitch axis 1-8 and course axle 1-5.
With main frame plate 1-10 for support be fixedly installed feeler lever seat 3-1, in feeler lever seat 3-1 in X to arranging rotating gear shaft, gear shaft is fixedly installed transmission gear 3-2; The feeler lever 3-3 being arranged in feeler lever seat 3-1 realizes engaged transmission by tooth bar and transmission gear 3-2, is fixedly installed the first bevel gear 3-4 at the axle head of gear shaft; The move axially through transmission gear 3-2-driven gear axle of feeler lever 3-3 in feeler lever seat 3-1 rotates; Feeler lever 3-3 runs through feeler lever seat 3-1 in front end and tail end, and with the front end of feeler lever 3-3 for feeler lever head, connects surgical clamp 3-5 at the rear of feeler lever 3-3.
In concrete enforcement, arrange potentiometer 3-6 between surgical clamp 3-5 and feeler lever 3-3, the output shaft of potentiometer 3-6 is screwed with the tail end of feeler lever 3-3 and is connected, and both guarantees are without relatively rotating; The shell of potentiometer 3-6 is fixedly connected with the output shaft of surgical clamp 3-5, rotates relative to feeler lever 3-3 with the shell of the rotating band electrokinetic potential device 3-6 of surgical clamp 3-5, can simulated implementation surgical clamp rotate and the real-time measurement of the anglec of rotation around own axes.Meanwhile, potentiometer is set in the jaw of surgical clamp 3-5, for detecting the opening angle of surgical clamp 3-5, the continuous action between the opening and closing of sham operated clamp, the organ actions such as simulation clamp clamping gall-bladder.
In the present embodiment, engaged transmission is realized by tooth bar and transmission gear 3-2 with feeler lever 3-3, while the axial displacement meeting feeler lever 3-3, by the engagement of cylinder rack-pinion, the rectilinear motion of feeler lever can also be become circumference of gear motion, the axial displacement measurement and the axial damping that significantly solve the 190mm stroke feeler lever when installing space is limited are difficult to the direct difficult problem implemented.Meanwhile, at the axle head of gear shaft, the first bevel gear 3-4 is set for connection damper axle system, adopts the transmission that turns to of 90 ° greatly to save the volume of single unit system, make structure compacter.This version makes hand-held surgical clamp swing in three dimensions rotation, the up and down pitching of the true operating theater instruments of simulated implementation can rotate, move axially around own axes revolution, front and back and the motion such as opening and closing of surgical clamp.
In the present embodiment, feeler lever axial force feedback system is set, be utilize damper bracing frame 2-3 to arrange the first magnetic damper 2-4 in the side of main frame plate 1-10, the first magnetic damper 2-4 has relatively turnable cylindrical shell and axis, and non-magnetic conductor is formed in relative rotation between cylindrical shell and axis; Magnetic damping output shaft 2-5 is coaxial with the axis of the first reluctance force device 2-4, and the axis of the first magnetic damper 2-4 can rely on magnetic force to drive barrel body rotation; Drum shaft is connected firmly in the bottom of cylindrical shell; Arrange the electromagnetic brake be made up of electromagnetic brake disc 2-2 and brake flange base 2-1, brake flange base 2-1 is fixedly connected with main frame plate 1-10, and electromagnetic brake disc 2-2 is fixedly connected with drum shaft; Be fixedly installed the second bevel gear 2-7 at the axle head of reluctance force output shaft 2-5, between the second bevel gear 2-7 and the first bevel gear 3-4, carry out engaged transmission.Magnetic damping output shaft 2-5 be fixed tightly in electromagnetic brake disc 2-2 together with, once electromagnetic brake disc 2-2 is pinned by electromagnetic brake base 2-1, now magnetic damping output shaft 2-5 damping due to rotation produce, and along with the anglec of rotation larger, damping is larger.In the present embodiment, pitch axis 1-8 two axial ends be match with axis hole between the biside plate of " U " type seat 1-3, when carrying out the installation of pitch axis, the gap maintaining 0.02mm between electromagnetic brake disc 2-2 and brake flange base 2-1 should be made.
Feeler lever axial force feedback system action principle is: surgical clamp 3-5 rotarily drives the common undamped of the first magnetic damper 2-4 and rotates, and simulates the operating state before clamp does not touch organ with this, operating state feeler lever front end being encountered to organ is simulated with electromagnetic brake energising, when electromagnetic brake is energized, the drum shaft of the first magnetic damper 2-4 is by electromagnetic brake locking, due to the effect of magnetic damping, help the feel of surgical clamp as encountered real organ, along with the deep touching of feeler lever and the anglec of rotation larger, damping force is also slowly flexible to be increased, when surgical clamp drives feeler lever to regain, damping also slowly diminishes, there is the flexible resilience effect of real soft tissue, this resilience effect by the transmitting and converting of bevel-gear sett pair be feeler lever move axially damping, when tissues such as clamping one piece of tumour with surgical clamp pulls out, now oppositely damping comes into effect.Mounting torque sensor on reluctance force output shaft 2-5, can detect the size obtaining damping force, and this is very helpful for the surgical skills of cultivating doctor.
In concrete enforcement, the second magnetic damper 1-11 is set between main frame plate 1-10 and pitch axis 1-8, between pitch axis 1-8 and " U " shape seat 1-3, pitch axis electromagnetic brake 1-7 is installed, for braking between pitch axis 1-8 and " U " shape seat 1-3.
3rd magnetic damper 1-4 is set between " U " shape seat 1-3 and course axle 1-5, course axle electromagnetic brake 1-2 is set between course axle 1-5 and base 1-1, for braking between course axle 1-5 and base 1-1.
Three groups of flexible damping feedbacks are formed altogether in the present embodiment, namely feeler lever pitching up and down, the damping due to rotation swung and move axially damping, can realize operation clamping force FEEDBACK CONTROL by software emulation human intracavity interface, whether the apparatuses such as catch clip touch human organ, thus trigger corresponding electromagnetic brake and make each damper produce real contact human body force feedback effect.
In concrete enforcement, each contactless grating code-disc and read head are set respectively on each correspondence position, comprise the 3rd grating encoder and the read head 1-6 of the angular displacement for obtaining course axle 1-5 between the axle head being arranged on course axle as shown in Figure 5 and main frame plate, for obtaining the second grating encoder and the read head 1-9 of the angular displacement of pitch axis 1-8, and for the first grating encoder of the axial displacement that obtains feeler lever 3-3 and read head 2-6; Adopt contactless grating code-disc and read head to realize unlimited angle of circumference to measure, its cost is low, structure is simple, volume is little, be easy to installation, signal not by the interference such as temperature and magnetic field.
In concrete enforcement, the motor message related to comprises: the angular displacement of course axle 1-5 and pitch axis 1-8, for the angle of rotation displacement of the feeler lever of sham operated cutter and axial displacement, and the folding angle of surgical clamp.Wherein, the angular displacement of course axle and pitch axis, and the axial displacement of feeler lever is obtained respectively by the non-contact type high-precision grating encoder on each correspondence position and read head, the axial displacement of feeler lever utilizes rack geared structure to change straight line into circular motion to measure, and the angle of rotation displacement of feeler lever and the folding angle of surgical clamp are obtained by potentiometer; Each road signal can calculate the current three-dimensional coordinate of surgical clamp in simulated operation interface and the folding horn shape state of surgical clamp by space coordinate conversion, and intuitively in real time surgical clamp to be presented on simulated operation interface, the screen-vision guided based on endoscope can instruct the operation sight of doctor's simulating realistic freely.
Shown in Fig. 4, arrange " V " shape zero adjustment block 8 in the present embodiment, zero adjustment block 8 is fixed on the bottom of a sidewall of main support plate 1-10 with its side, opposite side is set to " V " type end side 8a in 90 ° at bottom end face, " V " type groove 8b that corresponding setting matches in support platform, the rotary stopper and back to zero that realize course axle and pitch axis is coordinated with " V " type end side 8a of zero adjustment block 8 and " V " type groove 8b, support platform is supported on the level table on base 1-1, initial zero calibration device using zero adjustment block 8 as course axle 1-5 and pitch axis 1-8, can realize rapidly, the device zero of high position precision, in concrete enforcement, " V " type end side and " V " type groove also correspondence can be set to inverted trapezoidal end face and inverted trapezoidal groove, and its trapezoidal both sides are mutually in 90 degree.
See Fig. 7 a and Fig. 7 b, in the present embodiment, the first magnetic damper 2-4, the second magnetic damper 1-11 and the 3rd magnetic damper 1-4 adopt the bidirectional rotary dampers based on cylindrical magnet pair, its version is: the sintered NdFeB cylindrical magnet arranging a pair radial magnetizing is secondary, and what form magnet pair is the first cylindrical magnet 1 and the second cylindrical magnet 2 respectively; First cylindrical magnet 1 is fixedly inlaid in axis 7, axis 7 utilizes deep groove ball bearing 6 and end cap 5 to be bearing on the axial centerline of cylindrical shell 3, it is on the circumferential position of R that second cylindrical magnet 2 is fixedly installed on radius in cylindrical shell 3, specifically axially extending bore is set on the correspondence position of cylindrical shell 3, second cylindrical magnet 2 is inlaid in axially extending bore, and fastening with holding screw 4, ensure that the magnetic line of force passes through the center of circle; Axis 7 is on the location mid-shaft of cylindrical shell 3, and axis 7 is coaxial with cylindrical shell 3, and can relatively rotate; The magnetic line of force of the first cylindrical magnet 1 and the second cylindrical magnet 2 is along axis 7 in the radial direction.
Make the radius of the first cylindrical magnet 1 be R1, the radius of the second cylindrical magnet 2 is R2, setting: R is greater than R1+R2, makes to be formed with interval between the first cylindrical magnet 1 and the second cylindrical magnet 2, and this version makes noncontact between two cylindrical magnets, without wearing and tearing; And the magnetic force between two magnet pairs is converted into the damping due to rotation power between axis and cylindrical shell, makes the output of damping force and use become possibility.
Arranging axis 7 is take brass as material, and cylindrical shell 3 take duralumin as material.
Cylindrical shell 3 arranging axially extending bore for fixedly mounting the second cylindrical magnet 2, changing the size of radius R and/or getting the value of different radius Rs 2, the size of the damping force that damper exports can be adjusted.
Damper is set and can has the control model that the following two kinds is different:
Pattern one: cylindrical shell damping exports
Fixing axis 7, the central angle position at definition axis 7 place is reference position P, at reference position place, the first cylindrical magnet 1 with the magnetic line of force place of the second cylindrical magnet 2 on the same line, and magnetic line of force direction is contrary, export as minimum damping force in the cylindrical shell damping of P place, reference position;
Keep the magnetic line of force direction of the first cylindrical magnet 1 constant, cylindrical shell 3 is driven to rotate, second cylindrical magnet 2 is with cylindrical shell 3 synchronous axial system, the central angle turned over along with cylindrical shell 3 is larger, and be not more than 90 °, the damping force that cylindrical shell damping exports is larger, when the central angle that cylindrical shell 3 turns over is 90 °, cylindrical shell damping exports as maximum damping force, M point position is that cylindrical shell turns over 90 ° counterclockwise as shown in figure 7b, M point position is the maximum damping force point of cylindrical shell when rotating counterclockwise, N point position is that cylindrical shell turns over 90 ° clockwise, N point position is the maximum damping force point of cylindrical shell when rotating clockwise.
Corresponding to cylindrical shell 3 relative to axis 7 rotation in the clockwise direction and in the counterclockwise direction, forward damping force is symmetrical about reference position.
Pattern two: axis damping exports
Fixed cylinder 3, the central angle position at definition cylindrical shell 3 place is reference position P, at P place, reference position, the first cylindrical magnet 1 with the magnetic line of force place of the second cylindrical magnet 2 on the same line, and magnetic line of force direction is contrary, export as minimum damping force in the axis damping of P place, reference position;
Keep the magnetic line of force direction of the second cylindrical magnet 2 constant, axis 7 is driven to rotate, first cylindrical magnet 1 is with axis 7 synchronous axial system, the central angle turned over along with axis 7 is larger, and be not more than 90 °, the damping force that axis damping exports is larger, when the central angle that axis 7 turns over is 90 °, axis damping exports as maximum damping force, as shown in figure 7b, cylindrical shell is fixed, axis rotation, M point position is that axis turns over 90 ° counterclockwise, M point position is the maximum damping force point of axis when rotating counterclockwise, N point position is that axis turns over 90 ° clockwise, N point position is the maximum damping force point of axis when rotating clockwise.
Corresponding to axis 7 relative to cylindrical shell 3 rotation in the clockwise direction and in the counterclockwise direction, forward damping force is symmetrical about reference position.
Also can arrange damper is gear unit, and the first cylindrical magnet 1 in gear unit and the second cylindrical magnet 2 are free state, and the mode of operation arranging gear unit is: drive cylindrical shell 3 to rotate with the axis 7 rotated, or drives axis 7 to rotate with cylindrical shell 3.
In the present embodiment, the first damper adopts mode of operation two, second damper of axis damping output and the 3rd damper to be the mode of operations one adopting cylindrical shell damping to export.
In the present embodiment, magnetic damper has following technique effect:
1, damping force is stablized, and its damper temperature applicable range reaches-40 DEG C ~ 180 DEG C, and it meets the requirement of medical science environment for use completely, and in its environment for use, permanent magnet damping force remains unchanged, and the fatigue as the damping device such as spring, wire rope can not occur; Also such as viscous oil, silicon oil damper change the damping force the caused problem such as inconstant with ambient temperature change oil viscosity can not be there is;
2, torque is stablized: permanent magnetism has stable moment of torsion, static constant with moment of torsion when rotating.Therefore, from minimum speed to maximum speed, moment of torsion is constant all the time.Do not affect by time, temperature, speed or other system and change;
3, because of the effect by cylindrical magnet secondary field power, damper has the zero reference of high position precision, is in zero-bit state when damper does not work all the time; During damper work, depart from the damping that zero-bit has clockwise and counterclockwise both direction, two is symmetrical about zero-bit to damping, and damping force increases with the increase of deviation angle, and especially needing flexible force to feed back occasion in medical surgery simulated training has very exigence.
Claims (5)
1. an endoscope analogue means, is characterized in that described endoscope analogue means is the endoscope analogue means (11) of locating based on flexible damping arranged by following form:
For supporting, sight glass course axle (4-4) is set with sight glass base (4-1) in Z-direction, described sight glass course axle (4-4) is equipped with sight glass " U " shape seat (4-3), and described sight glass " U " shape seat (4-3) can be rotated around sight glass course axle (4-4) on described sight glass course axle (4-4) in surface level, and described Z-direction is vertical direction;
With described sight glass " U " shape seat (4-3) for supporting in X to arranging sight glass pitch axis (4-13), described endoscope pitch axis (4-13) is equipped with sight glass main frame plate (4-21), and described sight glass main frame plate (4-21) can be rotated around sight glass pitch axis (4-13) in perpendicular on described sight glass pitch axis (4-13); The Two Dimensional Rotating vertical shaft series of sight glass main frame plate (4-21) is formed with described sight glass pitch axis (4-13) and described sight glass course axle (4-4);
With described sight glass main frame plate (4-21) for support is fixedly installed sight glass feeler lever seat (4-18), in described sight glass feeler lever seat (4-18) in X to arranging rotating sight glass driving gearshaft (4-15), described sight glass driving gearshaft (4-15) is fixedly installed sight glass transmission gear (4-16); The sight glass feeler lever (4-17) being arranged in sight glass feeler lever seat (4-18) realizes engaged transmission by tooth bar and described sight glass transmission gear (4-16); The move axially through sight glass transmission gear (4-16) of described sight glass feeler lever (4-17) in sight glass feeler lever seat (4-18) drives sight glass driving gearshaft to rotate; Described sight glass feeler lever (4-17) runs through described sight glass feeler lever seat (4-18) in front end and tail end, and be feeler lever head with the front end of described sight glass feeler lever (4-17), connect sight glass potentiometer (4-19) as operating grip at the afterbody of described sight glass feeler lever (4-17);
Flexible damping positioning system is set, it comprises the first flexible damping locating device (4-20) be arranged on sight glass driving gearshaft (4-15), the second flexible damping locating device (4-12) be arranged on sight glass pitch axis (4-13), and is arranged on the 3rd flexible damping locating device (4-5) on sight glass course axle (4-4); Described first flexible damping locating device (4-20) forms flexible damping between sight glass feeler lever (4-17) and sight glass feeler lever seat (4-18); Described second flexible damping locating device (4-12) forms flexible damping between sight glass pitch axis (4-13) and sight glass " U " shape seat (4-3); Described 3rd flexible damping locating device (4-5) forms flexible damping between described sight glass course axle (4-4) and sight glass " U " shape seat (4-3).
2. endoscope analogue means according to claim 1, it is characterized in that: each grating encoder and read head are set respectively, for obtaining the angular displacement in sight glass pitch axis (4-13) and sight glass course axle (4-4), and the axial displacement of sight glass feeler lever (4-17).
3. endoscope analogue means according to claim 1, it is characterized in that: sight glass zero adjustment block (4-23) is set, described sight glass zero adjustment block (4-23) is fixed on a side of sight glass main support plate (4-21) with its epimere, the bottom of described sight glass zero adjustment block (4-23) is set to inverted trapezoidal end face (4-23a), on the level table of sight glass base (4-1), correspondence is set to inverted trapezoidal groove (4-23b), what utilize described inverted trapezoidal end face and inverted trapezoidal groove coordinates the rotary stopper and back to zero that realize sight glass course axle (4-4) and sight glass pitch axis (4-13).
4. endoscope analogue means according to claim 1, it is characterized in that: described 3rd flexible damping locating device (4-5) is set with teflon gasket (4-6) successively on the top in sight glass course axle (4-4), aluminium alloy pad (4-7), the spring axis of guide (4-8), Compress Spring (4-9) and spring block (4-10), described spring block (4-10) press-fits setting nut (4-11), described setting nut (4-11) is threaded in the upper end in sight glass course axle (4-4), utilize setting nut (4-11) to compress described teflon gasket (4-6) and form flexible damping between described sight glass course axle (4-4) and sight glass " U " shape seat (4-3).
5. a Minimally Invasive Surgery comprehensive training system, it is characterized in that: in the central authorities of mounting base (9), endoscope analogue means (11) according to claim 1 is installed, in the left side of described endoscope analogue means (11), left-hand side Minimally Invasive Surgery analogue means (10-1) is installed, on the right side of described endoscope analogue means (11), right-hand side Minimally Invasive Surgery analogue means (10-2) is installed, forms Minimally Invasive Surgery comprehensive training system.
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| CN201510368795.6A CN104916212A (en) | 2015-06-26 | 2015-06-26 | Endoscope simulation device and application of endoscope simulation device in minimally invasive surgery training system |
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Application publication date: 20150916 |