CN202871171U - Neuroendoscopy simulation training apparatus and system thereof - Google Patents
Neuroendoscopy simulation training apparatus and system thereof Download PDFInfo
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- CN202871171U CN202871171U CN 201220468390 CN201220468390U CN202871171U CN 202871171 U CN202871171 U CN 202871171U CN 201220468390 CN201220468390 CN 201220468390 CN 201220468390 U CN201220468390 U CN 201220468390U CN 202871171 U CN202871171 U CN 202871171U
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Abstract
The utility model relates to the field of medical surgical instruments, and specifically relates to a neuroendoscopy simulation training apparatus. The apparatus comprises a neuroendoscopy posture adjustment platform, a neuroendoscopy sheath translation module and an instrument operation module which are arranged on the neuroendoscopy posture adjustment platform, and a simulation neuroendoscopy connected to the neuroendoscopy sheath translation module and the instrument operation module by a neuroendoscopy sheath. The utility model further discloses a system based on the neuroendoscopy simulation training apparatus. The system comprises a brain three-dimensional data model system, a surgical operation system and a central control system. The beneficial effects of the utility model are that, the neuroendoscopy training method provides a real mechanical operation feeling, and provides a real sense of surgical immediacy to a trainee in cooperation with the brain three-dimensional data model system; the problem that, the operation of the neuroendoscopy, which is a minimally invasive surgical instrument, is trained only by methods such as observation, video watching and cadaver head training without actual operation, is solved; and the training time and training cost are reduced.
Description
Technical field
The utility model relates to the medical surgery instrument field, relates in particular to a kind of nerve endoscope analogue simulation trainer and system thereof.
Background technology
Nowadays, nerve endoscope gets a lot of applications at cerebral surgery operation, and it belongs to Wicresoft's neurosurgery category, is representing the developing direction of neurosurgery.The more traditional neurosurgery of endoscopic surgery has and can look at lower accurate operation, little, the time-consuming weak point of wound straight, recovers the advantage such as fast, good prognosis, possesses in some aspects the irreplaceable advantage of microneurosurgery.Along with the fast development of Modern Optics Technology, neuroimaging technology and micro-surgical instruments, nerve endoscope combines with stereotaxis, Use of Neuronavigation, laser, artificial intelligence and microsurgical technique, has now spreaded all over each field of neurosurgery.
Being widely used of nerve endoscope, also expedited the emergence of the demand to its training, in the market, there is not special operation training system or equipment over against nerve endoscope, mostly adopt the mode of training seminar, concentrate and view and emulate training, or the man-to-man guidance of " Mentoring ", the effect of training and efficient are all lower.On consisting of from the employed human-computer interaction device's of existing other endoscope systems (such as laparoscope, hysteroscope etc.) trainings system, current endoscope operation dummy emulation system mainly is that the all-purpose robot equipment that forms take parallel institution and serial mechanism is as main.As entering the main flow consumer goods market, and that be used widely is the PHANToM of U.S. Sensable company, the CyberForce of 3DImmersion company, and the ForceDimension series of products of Dimension company, be used in widely in endoscope and the laparoscopic surgery training system.With respect to the endoscope system that this particular procedure occasion of nerve endoscope is used, these have the all-purpose robot equipment of parallel institution or serial mechanism, exist with actual surgical scene not to be inconsistent, and mode of operation is far from each other, promote and use being greatly limited.
Eventually the above, at present, although set up the endoscope operation training organization that comprises nerve endoscope of standard, nerve endoscope training also substantially be in these traditional medical operating training stages of training that training and " Mentoring " are viewed and emulated in the explanation of concentration teaching training, video.Training for this operating theater instruments of nerve endoscope does not also have ripe product.Because this operating theater instruments of nerve endoscope is expensive, the surgical condition potential risk is larger, existing training method exists the training audient little, the shortcomings such as training process and practical operation can not combine together, result of training is poor, training cycle length.
Summary of the invention
For the defective of prior art, the purpose of this utility model is, design one is enclosed within mode of operation, make on the aspect such as firmly sense and human-computer interaction device that the actual operation use occasion is mated.
The purpose of this utility model also is to provide a kind of system with said apparatus, the trainer is except the basic operation action that can finish endoscopic surgery, can also be by this device and the virtual brain Database Systems that match combination, realize vision, power visual information in the surgical procedure, make training process more true to nature, strengthen result of training, shorten the training cycle.
For reaching above purpose, the utility model adopts following technical scheme.
Nerve endoscope analogue simulation trainer, it is characterized in that, comprise: the scope attitude adjustment platform is arranged on mirror sheath translation module and instrumentation module on the described scope attitude adjustment platform, and is connected to CTVE on mirror sheath translation module and the instrumentation module by the mirror sheath.
As with improvement, described CTVE comprises: the mirror sheath, be arranged on mirror sheath interface, the apparatus interface of mirror sheath front end, be arranged on instrumentation pincers, the operating grip of mirror sheath rear end, apparatus interface connecting rod between mirror sheath interface and apparatus interface, and be successively set on from front to back apparatus rotary manipulation handle between instrumentation pincers and the operating grip, contactless rotary magnetic code-disc.
As with improvement, described mirror sheath, mirror sheath interface, apparatus interface, apparatus interface connecting rod and apparatus rotary manipulation handle coaxial line; The material of described CTVE is 304 stainless steels.
As with improvement, described scope attitude adjustment platform comprises: base for supporting, be arranged on the beat attitude adjusting module on the base for supporting, the pitch attitude adjusting module on the beat attitude adjusting module is set, and connect beat attitude adjusting module and pitch attitude adjusting module pivot flange.
Further with improvement, described beat attitude adjusting module comprises: be installed in the deflection module supporting seat on the base for supporting, be installed in the first motor of deflection module supporting seat side, and take turns by the drive wire that drive screw is connected with the first motor; Connected mode between described drive screw and the drive wire wheel is that steel wire connects, and the ratio of gear between this drive screw and the drive wire wheel is 100:16; The mounting structure of described beat attitude adjusting module is: the bottom of drive wire wheel is provided with the beat turning axle, and this beat turning axle is inserted in the intermediate throughholes of deflection module supporting seat; The bottom of described through hole is provided with the contactless rotation magnetic code device that is positioned on the base for supporting; The upper and lower end position of described through-hole wall has installed the radial support bearing, and the upper end of described through hole is provided with axial thrust bearing; Fix by bearing pin between described drive wire wheel, beat turning axle and pivot flange; The optoelectronic switch catch is set on the described pivot flange, is provided with optoelectronic switch on the described beat module supporting seat.
Further with improvement, described pitch attitude adjusting module comprises: be installed in the pitching module supporting seat on the pivot flange, be arranged on the second motor on the pitching module supporting seat, and take turns by the drive wire that screw rod is connected with the second motor; Connected mode between described drive screw and the drive wire wheel is that steel wire connects, and the ratio of gear between this drive screw and the drive wire wheel is 200:16; Described pitching module supporting seat be shaped as " U " shape seat; The second motor is installed in the bottom of " U " seat, and the drive screw of this second motor reaches outside " U " shape seat sidewall; The pitching paralell is located at the opening part of " U " shape seat, and the holding screw of this pitching platform one side is provided with the pitching line wheel that is connected with the second motor-driven screw rod; Holding screw at pitching platform opposite side is provided with contactless rotation magnetic code device and Photoelectric Detection stop means.
As with improvement, described mirror sheath translation module comprises: mirror sheath translation platform is arranged on the mirror sheath bogey on the mirror sheath translation platform and is positioned at the mirror sheath translational displacement pick-up unit of mirror sheath translation platform front end; This mirror sheath translation platform comprises: back up pad, be arranged on the line rail on the back up pad, and the slide block on the online rail is set, be fixedly connected with to install the mount pad of mirror sheath bogey and instrumentation module with slide block, and drive reciprocating the 3rd motor of slide block; Described the 3rd motor connects strong sensor and mirror sheath translational displacement pick-up unit by driving-belt, and this this power sensor is fixedly connected with mount pad by screw; This mirror sheath bogey comprises: mirror sheath interface track, be arranged on the stroke trigger switch on side of mirror sheath interface track, be arranged on the limiting plate of mirror sheath interface rail end, and the one group of locking electromagnet that lays respectively at mirror sheath interface track another side and bottom; This translational displacement monitoring device is the linear displacement measurement device based on Hall element, the measurement of straight-line displacement is converted to the measurement of the anglec of rotation.
As with improvement, described instrumentation module comprises: apparatus translation platform is positioned at the apparatus translation displacement measuring device of apparatus translation platform front end, and is arranged on the apparatus rotation platform on the apparatus translation platform; Described apparatus translation platform comprises: back up pad, be arranged on the line rail on the back up pad, and the slide block on the online rail is set, be fixedly connected with the translation back-up block of installing apparatus rotation platform with slide block, and drive reciprocating the 4th motor of slide block; Described the 4th motor connects strong sensor and apparatus translational displacement pick-up unit by driving-belt, and this this power sensor is fixedly connected with mount pad by screw; Described apparatus rotation platform is installed on the slide block of apparatus translation platform by the translation back-up block; This apparatus rotation platform comprises: be arranged on the 5th motor on the translation back-up block, and by the 5th motor-driven stretching pulley, with the driving pulley of stretching pulley interlock, and the engaged wheel that is connected with driving pulley by driving-belt; Be fixed with revolving shaft on the described engaged wheel, the two ends of this revolving shaft connect respectively contactless angle and measure magnetic code disk module and apparatus installing port.
The utility model also provides a kind of system with aforementioned nerve endoscope analogue simulation trainer, it is characterized in that, comprising: brain three-dimensional data model system, operation technique system and central control system; Described operation technique system comprises: CTVE, scope attitude adjustment platform, mirror sheath translation module and instrumentation module.
The employing the beneficial effects of the utility model are: the utility model designs a kind of nerve endoscope analogue simulation trainer and system thereof in a creative way, is implemented in this field of nerve endoscope training method and has more near the real brain data of operating handle, the engagement height of true apparatus to a kind of telepresenc of performing the operation more really of trainee; Methods such as viewing and emulating, watch video recording and the training of corpse head is only adopted in the training on operation that has solved this Minimally Invasive Surgery apparatus of nerve endoscope, and the problem of practical operation can not be provided; Greatly shorten the training time, reduced training cost.
Simultaneously, CTVE is by arranging mirror sheath interface, and quick the connection and disengaging of convenient realization and mirror sheath translation module by the apparatus interface is set, conveniently realizes being connected and disengaging with the quick of instrumentation module; It is convenient to install and use.
In addition, the utility model adopts the linear displacement measurement device based on Hall element, the measurement dress of straight-line displacement is changed to the measurement of the anglec of rotation, reduced the installation dimension of system sensor, on the basis that guarantees measuring accuracy and system's displacement resolution, further guaranteed the compact of system, light and handy.
Description of drawings
Figure 1 shows that the nerve endoscope analogue simulation trainer structural representation that the utility model provides;
Figure 2 shows that the CTVE structural representation;
Figure 3 shows that scope attitude adjustment platform structural representation;
Figure 4 shows that scope attitude adjustment platform cut-open view;
Figure 5 shows that mirror sheath translation modular structure synoptic diagram;
Figure 6 shows that the mirror sheath bogey structure enlarged drawing of mirror sheath translation module;
Figure 7 shows that mirror sheath translation modular structure cut-open view;
Figure 8 shows that instrumentation modular structure synoptic diagram;
Figure 9 shows that the nerve endoscope analogue simulation training system principle schematic that the utility model provides.
Description of reference numerals:
1, CTVE 2, scope attitude adjustment platform 3, mirror sheath translation module 4, instrumentation module
11, mirror sheath 12, mirror sheath interface 13, apparatus interface 14, instrumentation pincers 15, operating grip 16, apparatus interface connecting link 17, apparatus rotary manipulation handle 18, contactless rotary magnetic code-disc
21, beat attitude adjusting module 22, pitch attitude adjusting module 23, base for supporting 24, pivot flange 211, deflection module supporting seat 212, the first motor 213, drive wire wheel 214, beat turning axle 215, contactless rotation magnetic code device 216, radial support bearing 217, axial support bearing 218, bearing pin 221, pitching module supporting seat 222, the second motor 223, pitching line wheel 224, pitching platform
31, mirror sheath bogey 32, mirror sheath translation platform 33, mirror sheath translational displacement pick-up unit 311, mirror sheath interface track 312, stroke trigger switch 313, limiting plate 314, locking electromagnet 321, back up pad 322, line rail 323, slide block 324, mount pad 325, the 3rd motor 326, power sensor 327, mechanical position limitation piece 328, optoelectronic switch
41, apparatus translation platform 42, apparatus translation displacement measuring device 43, apparatus rotation platform 44, translation back-up block 411, the 4th motor 431, the 5th motor 432, stretching pulley 433, driving pulley 434, engaged wheel 435, contactless angle are measured magnetic code disk module 436, apparatus installing port.
Embodiment
For further setting forth essence of the present utility model, by reference to the accompanying drawings embodiment of the present utility model is described as follows.
Analogue simulation device embodiment
As shown in Figure 1, a kind of nerve endoscope analogue simulation trainer comprises: scope attitude adjustment platform 2, be arranged on mirror sheath translation module 3 and instrumentation module 4 on the described scope attitude adjustment platform 2, and be connected to CTVE 1 on mirror sheath translation module 3 and the instrumentation module 4 by the mirror sheath.
Wherein, as shown in Figure 2, described CTVE 1 mainly comprises mirror sheath 11, be arranged on mirror sheath interface 12, the apparatus interface 13 of mirror sheath 11 front ends, be arranged on instrumentation pincers 14 and the operating grip 15 of mirror sheath rear end, be positioned at 13 mirror sheath interfaces 12 and apparatus interfaces and be provided with apparatus interface connecting rod 16, be connected to apparatus rotary manipulation handle 17 between instrumentation pincers 14 and the operating grip 15, contactless rotary magnetic code-disc 18.Preferably, described mirror sheath 11, mirror sheath interface 12, apparatus interface 13, apparatus interface connecting rod 16 and apparatus rotary manipulation handle 17 coaxial lines; The parts of described CTVE 1 all adopt 304 stainless steels.During practical operation, hand-held operation handle 15 of user, other manual manipulation instrumentation pincers 14 rotation and/or front and back in the axial passage of mirror sheath 11 move back and forth, and realize the operational motion of true apparatus.Especially, identical with real endoscopic technic use, the whole instrumentation of user's turn clamped 14 o'clock, and apparatus interface connecting rod 16 and apparatus rotary manipulation handle 17 can not rotate thereupon; Apparatus interface connecting rod 16 is fixed by screw and apparatus rotary manipulation handle 17, when rotating separately apparatus rotary manipulation handle 17, drive apparatus interface connecting rod 16, apparatus interface 13 rotate the anglec of rotation of contactless rotary magnetic code-disc 18 Real-Time Monitoring apparatus interfaces 13 together.In other embodiments, whole instrumentation pincers 14 can change other training on operation apparatuses into, such as coagulation, and hemostatic forceps etc. mostly have rectilinear motion and rotatablely move to finish on mode of operation apparatus.
As shown in Figure 3, described scope attitude adjustment platform 2 comprises: base for supporting 23, be arranged on the beat attitude adjusting module 21 on the base for supporting 23, pitch attitude adjusting module 22 on the beat attitude adjusting module 21 is set, and connects beat attitude adjusting module 21 and pitch attitude adjusting module 22 pivot flanges 24.In other embodiments, described beat attitude adjusting module 21 is positioned at the top of pitch attitude adjusting module 22, and described pitch attitude adjusting module 22 is arranged on the base for supporting 23, is not limited to present embodiment.Preferably, described beat attitude adjusting module 21 comprises: be installed in the deflection module supporting seat 211 on the base for supporting 23, be installed in the first motor 212 of deflection module supporting seat 211 sides, and take turns 213 by the drive wire that the transmission steel wire is connected with the first motor 212 drive screws; Ratio of gear between the drive screw of preferred the first motor 212 and the drive wire wheel 213 is 100:16.Described pitch attitude adjusting module 22 comprises: be installed in the pitching module supporting seat 221 on the pivot flange 24, be arranged on the second motor 222 on the pitching module supporting seat 221, take turns 223 by the pitching line that the transmission steel wire is connected with the second motor, and take turns the 223 pitching platforms 224 that are fixedly connected with the pitching line; Ratio of gear between the drive screw of preferred the second motor and the drive wire wheel 213 is 200:16.
Further, as shown in Figure 4, the concrete mounting structure of described beat attitude adjusting module is: the bottom of drive wire wheel is provided with beat turning axle 214, and this beat turning axle 214 is inserted in the intermediate throughholes of deflection module supporting seat 211; The bottom of described through hole is provided with the contactless rotation magnetic code device 215 that is positioned on the base for supporting; The upper and lower end position of described through-hole wall has installed radial support bearing 216, and the upper end of described through hole is provided with axial thrust bearing 217; Described drive wire wheel, beat turning axle 214 and 24 of pivot flanges are fixing by bearing pin 218.During actual operation, described the first motor drives 213 rotations of drive wire wheel by the transmission steel wire, and transmission continuously, steadily; The angle that described contactless rotation magnetic code device 215 Real-Time Monitoring drive wires wheel turns over.For further detecting the extreme position of drive wire wheel reciprocally swinging, on the described pivot flange 24 the optoelectronic switch catch is set, be provided with optoelectronic switch on the described beat module supporting seat 211, utilize the optoelectronic switch catch to optoelectronic switch block realize that the beat extreme position judges.The concrete structure of described pitch attitude adjusting module is: pitching module supporting seat 221 be shaped as " U " shape seat; The second motor 222 is installed in the bottom of " U " seat, and the drive screw of this second motor 222 reaches outside " U " shape seat sidewall; Pitching platform 224 is erected at the opening part of " U " shape seat, and the holding screw of these pitching platform 224 1 sides is provided with the pitching line wheel 223 that is connected with the second motor-driven screw rod.Further, pendulum angle and the swing limit for convenient control pitching platform 224, opposite side at pitching platform 224 is provided with contactless rotation magnetic code device and Photoelectric Detection stop means, similar on the structure of described contactless rotation magnetic code device and photoelectric detection system and principle of work and the beat attitude adjusting module repeats no more.
Such as Fig. 5-shown in Figure 7, described mirror sheath translation module 3 comprises: mirror sheath translation platform 32 is arranged on the mirror sheath bogey 31 on the mirror sheath translation platform 32 and is positioned at the mirror sheath translational displacement pick-up unit 33 of mirror sheath translation platform 32 front ends; Preferably, the linear displacement measurement device that described translational displacement pick-up unit 33 adopts based on Hall element is changed to the measurement dress of straight-line displacement the measurement of the anglec of rotation.Wherein, as shown in Figure 6, described mirror sheath bogey 31 comprises: mirror sheath interface track 311, be arranged on the stroke trigger switch 312 on 311 1 sides of mirror sheath interface track, be arranged on the limiting plate 313 of mirror sheath interface track 311 ends, and the one group of locking electromagnet 314 that lays respectively at mirror sheath interface track 311 another sides and bottom.As shown in Figure 7, described mirror sheath translation platform comprises: back up pad 321, be arranged on the line rail 322 on the back up pad 321, slide block 323 on the online rail 322 is set, be fixedly connected with to install the mount pad 324 of mirror sheath bogey and instrumentation module with slide block 323, and drive slide block 323 reciprocating the 3rd motors 325.Preferably, described the 3rd motor 325 connects strong sensor 326 and mirror sheath translational displacement pick-up unit 33 by driving-belt, and this this power sensor 326 is fixedly connected with mount pad 324 by screw.During 325 running of the 3rd motor, slide on drive sensor 326, the mount pad 324 online rails 322, thus the translation of realization mirror sheath bogey 31.And power sensor 326 and mirror sheath translational displacement pick-up unit 33 detect force signal and the displacement signal in the motion process in real time.Further, be convenient initial position locking to mirror sheath bogey, also be provided with a locking device on the described mirror sheath translation platform, this locking device is made of locking electromagnet and spacing hole, the pin that utilizes energising and outage will lock electromagnet inside is retracted or is ejected in the spacing hole, realizes locking and the release of initial position; For better extreme position to slide block 323 carries out spacing, described line rail two ends are provided with mechanical position limitation piece 327, on the back up pad 321 respectively corresponding mechanical position limitation piece 327 be provided with optoelectronic switch 328, the optoelectronic switch catch is arranged on motion shading light electric switch 328 on the mount pad 324, positions.
As shown in Figure 8, described instrumentation module 4 comprises: apparatus translation platform 41 is positioned at the apparatus translation displacement measuring device 42 of apparatus translation platform 41 front ends, and is arranged on the apparatus rotation platform 43 on the apparatus translation platform 41.Wherein, the mirror sheath translation platform in described apparatus translation platform 41, apparatus translation displacement measurement module 42 and the mirror sheath translation module and the implementation of mirror sheath translational displacement pick-up unit are similar, repeat no more here; Especially, the 4th motor 411 is arranged on mirror sheath translation platform top.
In the present embodiment, described apparatus rotation platform 43 is installed on the slide block of apparatus translation platform 41 by translation back-up block 44.This apparatus rotation platform 43 comprises: be arranged on the 5th motor 431 on the translation back-up block 44, and by the 5th motor-driven stretching pulley 432, with the driving pulley 433 of stretching pulley 432 interlocks, and the engaged wheel 434 that is connected with driving pulley 433 by driving-belt; Be fixed with revolving shaft on the described engaged wheel, the two ends of this revolving shaft connect respectively contactless angle and measure magnetic code disk module 435 and apparatus installing port 436.During actual installation, whole instrumentation module 4 is fixedly connected with mount pad on the mirror sheath mobile platform by set screws, and the line rail on mirror sheath translation module 3 and the instrumentation module 4 is coplanar; The optoelectronic switch plectrum is fixedly connected with the translation back-up block by screw.
During use, insert mirror sheath interface track and make the apparatus interface enter that coaxial apparatus installing port cooperates and tensioning thereby the operator operates whole CTVE.When the user promotes in the CTVE lever, can finish the to-and-fro movement of whole apparatus part on apparatus translation platform, when the user rotates in the CTVE operating grip, coaxial revolving shaft together rotates with it, can finish the rotation of whole apparatus part on the apparatus rotation platform; Simultaneously, measure the magnetic code disk module by contactless angle the anglec of rotation of apparatus is detected and upload to central controller.When operating apparatus occurred not meeting training process violation operation or maloperation in virtual image system, driving pulley drove engaged wheel, the gyration generation of apparatus is braked or operated accordingly to stop up feel.
Analogue simulation training system embodiment
As shown in Figure 9, a kind of nerve endoscope analogue simulation training system comprises: brain three-dimensional data model system, operation technique system and central control system; It is characterized in that described operation technique system comprises: CTVE, scope attitude adjustment platform, mirror sheath translation module and instrumentation module.
Concrete principle is: the user operates the scope attitude adjustment platform, adjusts the initial attitude that the operation technique system enters brain three-dimensional data model system; It is mobile in mirror sheath translation module to promote CTVE, and simulation realizes that real mirror sheath moves horizontally along the focus direction, the displacement of simultaneously central control system real-time follow-up translation and the reciprocal force information of promotion; After waiting for that the mirror sheath arrives the target lesions position, the mirror sheath is motionless, and operator's operating apparatus operational module moves, and simulates the processing to focus, the displacement of simultaneously central control system real-time follow-up translation and the reciprocal force information of promotion.In above-mentioned action, the displacement information with each joint that central control system is real-time, force information feeds back to be mated and uses brain three-dimensional data model Database Systems, brain three-dimensional data model Database Systems are made force feedback according to each joint displacements information of receiving and are turned round and stretched out the hand art operating system, realize the real-time, interactive of this human-computer interaction device of the utility model and virtual data information.
Above embodiment has been described in detail essence of the present utility model, but can not come protection domain is limited with this.Apparently, under the enlightenment of the utility model essence, the art those of ordinary skill also can carry out many improvement and modification, such as, in all band wheel drive or transmission tensioning system is set all; Can both whether insert corresponding locking pin-and-hole seat by the bearing pin on the locking electromagnet at the initial position of all translations and realize locking and release; It should be noted that these improvement and modification all drop within the claim protection domain of this patent.Need to prove that also the relative definition that " the first, second, third, fourth, the 5th " in this patent only does for convenience is not the special definition of particular location.
Claims (9)
1. nerve endoscope analogue simulation trainer, it is characterized in that, comprise: the scope attitude adjustment platform is arranged on mirror sheath translation module and instrumentation module on the described scope attitude adjustment platform, and is connected to CTVE on mirror sheath translation module and the instrumentation module by the mirror sheath.
2. nerve endoscope analogue simulation trainer according to claim 1, it is characterized in that, described CTVE comprises: the mirror sheath, be arranged on mirror sheath interface, the apparatus interface of mirror sheath front end, be arranged on instrumentation pincers, the operating grip of mirror sheath rear end, apparatus interface connecting rod between mirror sheath interface and apparatus interface, and be successively set on from front to back apparatus rotary manipulation handle between instrumentation pincers and the operating grip, contactless rotary magnetic code-disc.
3. nerve endoscope analogue simulation trainer according to claim 2 is characterized in that, described mirror sheath, mirror sheath interface, apparatus interface, apparatus interface connecting rod and apparatus rotary manipulation handle coaxial line; The material of described CTVE is 304 stainless steels.
4. nerve endoscope analogue simulation trainer according to claim 1, it is characterized in that, described scope attitude adjustment platform comprises: base for supporting, be arranged on the beat attitude adjusting module on the base for supporting, pitch attitude adjusting module on the beat attitude adjusting module is set, and connects beat attitude adjusting module and pitch attitude adjusting module pivot flange.
5. nerve endoscope analogue simulation trainer according to claim 4, it is characterized in that, described beat attitude adjusting module comprises: be installed in the deflection module supporting seat on the base for supporting, be installed in the first motor of deflection module supporting seat side, and take turns by the drive wire that drive screw is connected with the first motor; Connected mode between described drive screw and the drive wire wheel is that steel wire connects, and the ratio of gear between this drive screw and the drive wire wheel is 100:16; The mounting structure of described beat attitude adjusting module is: the bottom of drive wire wheel is provided with the beat turning axle, and this beat turning axle is inserted in the intermediate throughholes of deflection module supporting seat; The bottom of described through hole is provided with the contactless rotation magnetic code device that is positioned on the base for supporting; The upper and lower end position of described through-hole wall has installed the radial support bearing, and the upper end of described through hole is provided with axial thrust bearing; Fix by bearing pin between described drive wire wheel, beat turning axle and pivot flange; The optoelectronic switch catch is set on the described pivot flange, is provided with optoelectronic switch on the described beat module supporting seat.
6. nerve endoscope analogue simulation trainer according to claim 4, it is characterized in that, described pitch attitude adjusting module comprises: be installed in the pitching module supporting seat on the pivot flange, be arranged on the second motor on the pitching module supporting seat, and take turns by the drive wire that screw rod is connected with the second motor; Connected mode between described drive screw and the drive wire wheel is that steel wire connects, and the ratio of gear between this drive screw and the drive wire wheel is 200:16; Described pitching module supporting seat be shaped as " U " shape seat; The second motor is installed in the bottom of " U " seat, and the drive screw of this second motor reaches outside " U " shape seat sidewall; The pitching paralell is located at the opening part of " U " shape seat, and the holding screw of this pitching platform one side is provided with the pitching line wheel that is connected with the second motor-driven screw rod; Holding screw at pitching platform opposite side is provided with contactless rotation magnetic code device and Photoelectric Detection stop means.
7. nerve endoscope analogue simulation trainer according to claim 1, it is characterized in that, described mirror sheath translation module comprises: mirror sheath translation platform is arranged on mirror sheath bogey and the mirror sheath translational displacement pick-up unit that is positioned at mirror sheath translation platform front end on the mirror sheath translation platform; This mirror sheath translation platform comprises: back up pad, be arranged on the line rail on the back up pad, and the slide block on the online rail is set, be fixedly connected with to install the mount pad of mirror sheath bogey and instrumentation module with slide block, and drive reciprocating the 3rd motor of slide block; Described the 3rd motor connects strong sensor and mirror sheath translational displacement pick-up unit by driving-belt, and this this power sensor is fixedly connected with mount pad by screw; This mirror sheath bogey comprises: mirror sheath interface track, be arranged on the stroke trigger switch on side of mirror sheath interface track, be arranged on the limiting plate of mirror sheath interface rail end, and the one group of locking electromagnet that lays respectively at mirror sheath interface track another side and bottom.
8. nerve endoscope analogue simulation trainer according to claim 1, it is characterized in that, described instrumentation module comprises: apparatus translation platform is positioned at the apparatus translation displacement measuring device of apparatus translation platform front end, and is arranged on the apparatus rotation platform on the apparatus translation platform; Described apparatus translation platform comprises back up pad, is arranged on the line rail on the back up pad, and the slide block on the online rail is set, and is fixedly connected with the translation back-up block of installing apparatus rotation platform with slide block, and drives reciprocating the 4th motor of slide block; Described the 4th motor connects strong sensor and apparatus translational displacement pick-up unit by driving-belt, and this this power sensor is fixedly connected with mount pad by screw; Described apparatus rotation platform is installed on the slide block of apparatus translation platform by the translation back-up block; Described apparatus rotation platform comprises: be arranged on the 5th motor on the translation back-up block, and by the 5th motor-driven stretching pulley, with the driving pulley of stretching pulley interlock, and the engaged wheel that is connected with driving pulley by driving-belt; Be fixed with revolving shaft on the described engaged wheel, the two ends of this revolving shaft connect respectively contactless angle and measure magnetic code disk module and apparatus installing port.
9. the system with nerve endoscope analogue simulation trainer is characterized in that, comprising: brain three-dimensional data model system, operation technique system and central control system; Described operation technique system comprises: CTVE, scope attitude adjustment platform, mirror sheath translation module and instrumentation module.
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| CN 201220468390 CN202871171U (en) | 2012-09-06 | 2012-09-14 | Neuroendoscopy simulation training apparatus and system thereof |
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| CN201210326725.0 | 2012-09-06 | ||
| CN201210326725 | 2012-09-06 | ||
| CN 201220468390 CN202871171U (en) | 2012-09-06 | 2012-09-14 | Neuroendoscopy simulation training apparatus and system thereof |
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| CN201210340367.9A Active CN102855799B (en) | 2012-09-06 | 2012-09-14 | Neuro-endoscope simulation training device and system comprising same |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102855799A (en) * | 2012-09-06 | 2013-01-02 | 佛山市金天皓科技有限公司 | Neuro-endoscope simulation training device and system comprising same |
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| CN103106831A (en) * | 2013-03-04 | 2013-05-15 | 合肥德易电子有限公司 | Inner cavity minimally invasive surgery training and operating device |
| EP2811479B1 (en) * | 2013-06-07 | 2017-08-02 | Surgical Science Sweden AB | A user interface for a surgical simulation system |
| CN103406908A (en) * | 2013-07-31 | 2013-11-27 | 北京邮电大学 | Force feedback hand controller with three degrees of freedom rotation |
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| US5623582A (en) * | 1994-07-14 | 1997-04-22 | Immersion Human Interface Corporation | Computer interface or control input device for laparoscopic surgical instrument and other elongated mechanical objects |
| CN101261781B (en) * | 2008-05-08 | 2010-06-02 | 上海交通大学 | Five-freedom degree force feedback virtual operation instrument |
| CN202871171U (en) * | 2012-09-06 | 2013-04-10 | 佛山市金天皓科技有限公司 | Neuroendoscopy simulation training apparatus and system thereof |
-
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- 2012-09-14 CN CN 201220468390 patent/CN202871171U/en not_active Withdrawn - After Issue
- 2012-09-14 CN CN201210340367.9A patent/CN102855799B/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102855799A (en) * | 2012-09-06 | 2013-01-02 | 佛山市金天皓科技有限公司 | Neuro-endoscope simulation training device and system comprising same |
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| CN102855799A (en) | 2013-01-02 |
| CN102855799B (en) | 2015-02-18 |
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