CN101702277A - Virtual and artificial force feedback surgical instrument - Google Patents
Virtual and artificial force feedback surgical instrument Download PDFInfo
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- CN101702277A CN101702277A CN200910306944A CN200910306944A CN101702277A CN 101702277 A CN101702277 A CN 101702277A CN 200910306944 A CN200910306944 A CN 200910306944A CN 200910306944 A CN200910306944 A CN 200910306944A CN 101702277 A CN101702277 A CN 101702277A
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Abstract
The invention provides a virtual and artificial force feedback surgical instrument, belonging to the technical field of medical appliances, comprising a chassis, a pitching device, a service platform, a driving assembly, a fixed assembly and a control detection module, wherein a base plate is fixedly connected with one end of the pitching adjusting device; the other end of the pitching adjusting device is connected with the service platform in a rotating manner; a first driving assembly and the fixed assembly are fixedly arranged on the service platform respectively; a second driving assembly is connected with the fixed assembly; the control detection module is respectively connected with the first driving assembly and the second driving assembly. By combining with the virtual and artificial technology, the invention is capable of realizing the operation simulation with force feedback functions, ensuring that interaction can be carried out between operators and virtual scenes.
Description
Technical field
What the present invention relates to is a kind of device of technical field of medical instruments, specifically is a kind of force feedback surgical instrument of virtual emulation.
Background technology
More and more multi-disciplinary intersections of embodiment of the development of modern science and infiltration.A kind of as Minimally Invasive Surgery, intervene operation begins progressively to substitute the parts of traditional open surgery at numerous areas.And virtual reality is in the application of medical domain, the research direction that makes virtual operation become to grow up.Intervene operation and virtual reality technology merge the virtual intervene operation that forms and can help the doctor to formulate operation plan; Also can repeat exercise, reduce the operative training expense, shorten to cultivate the surgical cycle, virtual intervene operation overcome rely on tradition clinical view and emulate the manipulator that runs into when the doctor is trained in practice can be less, problem such as operand costliness, significant to the operation training.One of essential condition of implementing virtual intervene operation provides the operation that undergos surgery of virtual interventional operation equipment, carries out the instrument of real-time, interactive as operator and virtual scene.
Find through literature search prior art, Chinese patent application number: 200510027052.9, name is called: multifunctional virtual surgery equipment, this patent is used straight-line displacement and swing offset sensor acquisition displacement data, the worktable that has a scissors handle control lever by design is realized the pseudo operation of surgical scissors, clamp and scalpel, but this device does not still possess force feedback function.
Also find in the retrieval, Chinese patent application number: 2008100270073.4, name is called: a kind of method of virtual operation and device thereof, this patent disclosure a kind of method and device thereof of virtual operation, it can realize real-time force feedback and visual feedback, can also simulate the operation of multiple operating theater instruments.But this invention reality has only been introduced a kind of method of virtual operation.Described device is the PHANTOM Desktop force feedback equipment of the U.S..
The PHANTOM Desktop force feedback equipment of the U.S. is a kind of Surgical instrument of virtual emulation, but the operational stroke of this device is limited, be not suitable for the operation that the operating apparatus range of movement is big stroke (as the heart intervene operation) virtual emulation, and the mode of operation of operating grip and heart intervene operation etc. are had any different.
Summary of the invention
The present invention is directed to the prior art above shortcomings, a kind of force feedback surgical instrument of virtual emulation is provided,, can realize having the operation simulation of force feedback function, make operator and virtual scene be able to alternately by matching with the virtual emulation technology.
The present invention is achieved by the following technical solutions, the present invention includes: chassis, elevation mount, operating platform, driven unit, fixation kit and control detection module, wherein: base plate is fixedlyed connected with an end of pitch regulation device, the other end and the operating platform of pitch regulation device are rotationally connected, first driven unit and fixation kit are fixedly set on the operating platform respectively, second driven unit is connected with fixation kit, and the control detection module is connected with second driven unit with first driven unit respectively.
Described elevation mount comprises: column, back up pad, pitch regulation device and coupling shaft, wherein: the column vertical fixing is arranged on the chassis, coupling shaft vertically runs through column and is rotationally connected, the two ends of coupling shaft are connected with two pitch regulation devices respectively, two pitch regulation devices are fixedlyed connected with operating platform with back up pad respectively, and the back up pad vertical fixing is arranged at a side of column.
Described first driven unit comprises: first pulley blocks, second pulley blocks, transmission cable, first drive motor and cable tension assembly, wherein: first pulley blocks and second pulley blocks are fixedly set in the two ends of operating platform respectively, transmission cable annular is socketed on the pulley blocks, first drive motor and the coaxial setting of first pulley blocks, the cable tension assembly is arranged under second pulley blocks.
Described second driven unit comprises: control lever, slide block and second drive motor, wherein: slide block is arranged on the fixation kit, fixedly connected with the transmission cable in its lower end, be set with second drive motor on the slide block, control lever and the coaxial setting of the projecting shaft of second drive motor, and by a holder restraint of liberty degree.
Described first drive motor and second drive motor are micro servo motor, stepper motor, electric/magnetic rheological liquid element or magnetic powder brake, and this first drive motor and second drive motor are connected to the control detection module respectively.
Described fixation kit comprises: holder, line slideway and limited block, and wherein: two holders are fixedly installed on the two ends of operating platform, and line slideway is fixedly installed on two holders, and limited block is fixedly installed on the line slideway.
Described control detection module comprises: processor controls, drive plate and sensor, wherein: processor controls is connected with drive plate, and drive plate is connected with second driven unit with first driven unit respectively with sensor displacement signal is transferred to processor controls.
Described sensor is the position and speed synthesis sensor, and a sensor is arranged at the output shaft of first drive motor, and another is arranged at the output shaft of second drive motor.The way of realization of position transducer can be potentiometer, rotary transformer, scrambler, and the way of realization of speed pickup can be speed measuring motor or encoder components; Wherein, a kind of comparatively ideal way of realization is to adopt the photo-electric digital encoder, measured angular displacement simultaneously and two parameters of rotating speed.
The present invention can realize power feel feedback function on two degree of freedom, and realized the adjustment of the work angle of control lever, the operator can utilize this interactive device can realize the multiple action of intervene operation, applicable to the multinomial needs of the training programmes of heart intervene operation and percutaneous puncture interverbebral disc intervene operation.
Description of drawings
Fig. 1 a and Fig. 1 b are structural representation of the present invention.
Fig. 2 is the structured flowchart of detection control module of the present invention;
Wherein: 1 base plate, 2 pitch regulation devices, 3 operating platforms, 4 first driven units, 5 fixation kits, 6 second driven units, 7 processor controls, 8 drive plates, 9 sensors, 21 columns, 22 back up pads, 23 pitch regulation devices, 24 coupling shafts, 41 pulley blockss, 42 transmission cables, 43 first drive motor, 44 cable tension assemblies, 51 holders, 52 line slideways, 53 limited blocks, 61 control lever, 62 slide blocks, 63 second drive motor, 100 control detection modules.
Embodiment
Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As depicted in figs. 1 and 2, present embodiment comprises: base plate 1, pitch regulation device 2, operating platform 3, first driven unit 4, fixation kit 5, second driven unit 6 and control detection module 100, wherein: be set with pitch regulation device 2 on the base plate 1, the other end of pitch regulation device 2 and operating platform 3 are rotationally connected, be set with first driven unit 4 and fixation kit 5 on the operating platform 3, second driven unit 6 is arranged on the fixation kit 5, and control detection module 100 is connected with second driven unit 6 with first driven unit 4 respectively.
Described elevation mount 2 comprises: column 21, back up pad 22, pitch regulation device 23 and coupling shaft 24, wherein: column 21 vertical fixing are arranged on the chassis 1, coupling shaft 24 vertically runs through column 21 and is rotationally connected, the two ends of coupling shaft 24 are connected with two pitch regulation devices 23 respectively, two pitch regulation devices 23 are fixedlyed connected with operating platform 3 with back up pad 22 respectively, and back up pad 22 vertical fixing are provided with a side of column 6.
Described first driven unit 4 comprises: pulley blocks 41, transmission cable 42, first drive motor 43, with cable tension assembly 44, wherein: two pulley blockss 41 are fixedly set in the two ends of operating platform 3 respectively, transmission cable 42 annulars are socketed on the pulley blocks 43, first drive motor 43 and pulley blocks 41 coaxial settings, cable tension assembly 44 is arranged on a pulley blocks 41 times.
Described fixation kit 5 comprises: holder 51, line slideway 52, limited block 53, wherein: two holders 51 are fixedly installed on the two ends of operating platform 3, line slideway 52 is fixedly installed on two holders 51, and limited block 53 is fixedly installed on the line slideway 52.
Described second driven unit 6 comprises: control lever 61, slide block 62, second drive motor 63, wherein: slide block 62 is arranged on the line slideway 52, fixedly connected with transmission cable 42 in its lower end, be set with second drive motor 63 on the slide block 62, control lever 61 and the coaxial setting of the projecting shaft of second drive motor 63, and by a holder 51 restraint of liberty degree.
Described cable tension assembly 44 is regular tensioning system.This device also can be reequiped with realization auto-tensionings such as tensioning springs.In this example or other embodiment, also can be by the tensioning that tensioning modes such as stretching pulley realize cable is set.
Described pitch regulation device 7 is a mechanic adjustment unit, is used to regulate the luffing angle of operating platform 3.In other embodiments, the pitch regulation function can change into by motor and realizing.
Described first drive motor 43 and second drive motor 63 are for driving executive component, and implementation is a micro servo motor.But in this example or other embodiment, the way of realization that drives executive component can also be a stepper motor, electric/magnetic rheological liquid element or magnetic powder brake.
Type of belt drive in described first driven unit 4 is the line transmission, and the drive line that line transmission dependence is tightly taken turns around line transmits mechanical motion and the moment between principal and subordinate's moving part.The line stable drive is continuous, no drive gap, and movement inertia is little, drives along sliding, and is with low cost.Drive line can be selected common stainless steel wire, Polymer Synthesizing line, tungsten line etc.For improving the friction force between drive line and line wheel, the online wheel is provided with winding slot; For keeping the tensile force of cable, corresponding cable tension assembly 44 is set.
Described control detection module 100 comprises: handle and controller 7, drive plate 8, sensor 9, handle and be connected with drive plate 8 with controller 7, drive plate 8 is connected with second drive motor 63 with first drive motor 43 respectively, sensor 9 is connected with the driving executive component, displacement signal is transferred to handles and controller 7.
Sensor 9 has two, be the position and speed synthesis sensor, two sensors 9 respectively with first drive motor 43 and the 63 coaxial settings of second drive motor, the way of realization of position transducer can be potentiometer, rotary transformer, scrambler, and the way of realization of speed pickup can be speed measuring motor or encoder components; Wherein, a kind of comparatively ideal way of realization is to adopt the photo-electric digital encoder, measured angular displacement simultaneously and two parameters of rotating speed.
When the end of operator grasps control lever 61 when control lever 61 axis directions carry out the translation operation, control lever 61 promotes slide block 62 and slides on line slideway 52, and be subjected to the travel limits of limited block 53, slide block 62 drives the transmission cable 42 that is fixedly installed on its lower end and rotates around two pulley blockss 41, and drives the axle rotation of first drive motor 43.
When the end of operator grasps control lever 61 when control lever 61 axis directions are rotated operation, the terminal axle rotation that directly drives second drive motor 63 of another of control lever 61.
When first drive motor 43 and 63 rotations of second drive motor, its corresponding sensor 9 that is provided with is measured and is driven the rotation axis rotational angle, extrapolates corresponding control lever 61 translatory distance, control lever 12 rotation angles again.Calculate each driven unit power or Torque Control parameter according to processor controls 7, work by drive plate 8 each driven unit of control according to these control parameter information; Make each driven unit produce the moment opposite, thereby the movable information of real-time acquisition operations bar 61 two-freedoms has realized that simultaneously the power feel of two-freedom is fed back with direction of motion.
Claims (5)
1. the force feedback surgical instrument of a virtual emulation, comprise: chassis, elevation mount, operating platform, driven unit, fixation kit and control detection module, wherein: base plate is fixedlyed connected with an end of pitch regulation device, the other end and the operating platform of pitch regulation device are rotationally connected, first driven unit and fixation kit are fixedly set on the operating platform respectively, second driven unit is with on fixation kit is connected, the control detection module is connected with second driven unit with first driven unit respectively, it is characterized in that:
Described elevation mount comprises: column, back up pad, pitch regulation device and coupling shaft, wherein: the column vertical fixing is arranged on the chassis, coupling shaft vertically runs through column and is rotationally connected, the two ends of coupling shaft are connected with two pitch regulation devices respectively, two pitch regulation devices are fixedlyed connected with operating platform with back up pad respectively, and the back up pad vertical fixing is arranged at a side of column;
Described first driven unit comprises: first pulley blocks, second pulley blocks, transmission cable, first drive motor and cable tension assembly, wherein: first pulley blocks and second pulley blocks are fixedly set in the two ends of operating platform respectively, transmission cable annular is socketed on the pulley blocks, first drive motor is arranged under second pulley blocks with the coaxial setting of first pulley blocks, cable tension assembly;
Described second driven unit comprises: control lever, slide block and second drive motor, wherein: slide block is arranged on the fixation kit, fixedly connected with the transmission cable in its lower end, be set with second drive motor on the slide block, control lever and the coaxial setting of the projecting shaft of second drive motor, and by a holder restraint of liberty degree.
2. the force feedback surgical instrument of virtual emulation according to claim 1, it is characterized in that, described first drive motor and second drive motor are micro servo motor, stepper motor, electric/magnetic rheological liquid element or magnetic powder brake, and this first drive motor and second drive motor are connected to the control detection module respectively.
3. the force feedback surgical instrument of virtual emulation according to claim 1, it is characterized in that, described fixation kit comprises: holder, line slideway and limited block, wherein: two holders are fixedly installed on the two ends of operating platform, line slideway is fixedly installed on two holders, and limited block is fixedly installed on the line slideway.
4. the force feedback surgical instrument of virtual emulation according to claim 1, it is characterized in that, described control detection module comprises: processor controls, drive plate and sensor, wherein: processor controls is connected with drive plate, and drive plate is connected with second driven unit with first driven unit respectively with sensor displacement signal is transferred to processor controls.
5. the force feedback surgical instrument of virtual emulation according to claim 4, it is characterized in that, described sensor is the position and speed synthesis sensor, and wherein: a sensor is arranged at the output shaft of first drive motor, and another sensor is arranged at the output shaft of second drive motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009103069440A CN101702277B (en) | 2009-09-14 | 2009-09-14 | Virtual and artificial force feedback surgical instrument |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009103069440A CN101702277B (en) | 2009-09-14 | 2009-09-14 | Virtual and artificial force feedback surgical instrument |
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| CN101702277A true CN101702277A (en) | 2010-05-05 |
| CN101702277B CN101702277B (en) | 2011-05-04 |
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| CN2009103069440A Expired - Fee Related CN101702277B (en) | 2009-09-14 | 2009-09-14 | Virtual and artificial force feedback surgical instrument |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101882394A (en) * | 2010-07-09 | 2010-11-10 | 东南大学 | Force sense feedback simulator of virtual intervene operation |
| CN102262836A (en) * | 2011-07-22 | 2011-11-30 | 广州赛宝联睿信息科技有限公司 | Mechanical operating platform for medical simulation training |
| CN102622935A (en) * | 2011-12-02 | 2012-08-01 | 傅强 | Minimally-invasive surgery simulator |
| CN103268726A (en) * | 2013-05-20 | 2013-08-28 | 浙江大学 | Ultrasonic-guided needle puncture operation simulation training system |
| CN103456223A (en) * | 2012-06-01 | 2013-12-18 | 苏州敏行医学信息技术有限公司 | Laparoscopic surgery simulation system based on force feedback |
| CN103473977A (en) * | 2013-09-27 | 2013-12-25 | 淮阴师范学院 | Scalpel interface device for virtual surgery training to achieve human-computer interaction |
| CN104622571A (en) * | 2013-11-14 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Closed-loop force control device based on magnetic powder clutch control mode |
| CN105193508A (en) * | 2015-10-23 | 2015-12-30 | 哈尔滨工程大学 | Experiment table for three-dimensional force calibration of surgical micro instrument |
| CN105596084A (en) * | 2016-02-02 | 2016-05-25 | 上海交通大学 | Cardiovascular intervention operation robot |
| CN105989769A (en) * | 2015-02-02 | 2016-10-05 | 中国科学院沈阳自动化研究所 | Spine minimally invasive surgery simulation force feedback operation training device and method |
| CN104794949B (en) * | 2014-01-22 | 2017-06-09 | 东南大学 | A kind of two-dimentional dynamic sensing interexchanging apparatus for realizing bone marrow aspiration virtual operation |
| CN107307909A (en) * | 2017-07-06 | 2017-11-03 | 北京理工大学 | One kind intervention robot remote operating system and its control method |
| CN107374737A (en) * | 2017-07-06 | 2017-11-24 | 北京理工大学 | A kind of intervention operation robot catheter guide wire cooperating system and its control method |
| CN107545809A (en) * | 2017-09-28 | 2018-01-05 | 北京理工大学 | Training method and support intervention operative training system |
| CN107945603A (en) * | 2017-11-13 | 2018-04-20 | 华中科技大学鄂州工业技术研究院 | A kind of device for force feedback of two-freedom virtual operation |
| CN108472100A (en) * | 2016-01-26 | 2018-08-31 | 索尼公司 | Grip sense feedback device and stylus formula force feeling feedback device |
| CN111434315A (en) * | 2019-01-15 | 2020-07-21 | 北京理工大学 | Puncture angle adjusting device and puncture auxiliary robot |
-
2009
- 2009-09-14 CN CN2009103069440A patent/CN101702277B/en not_active Expired - Fee Related
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101882394A (en) * | 2010-07-09 | 2010-11-10 | 东南大学 | Force sense feedback simulator of virtual intervene operation |
| CN102262836A (en) * | 2011-07-22 | 2011-11-30 | 广州赛宝联睿信息科技有限公司 | Mechanical operating platform for medical simulation training |
| CN102622935B (en) * | 2011-12-02 | 2014-04-16 | 傅强 | Minimally-invasive surgery simulator |
| CN102622935A (en) * | 2011-12-02 | 2012-08-01 | 傅强 | Minimally-invasive surgery simulator |
| CN103456223A (en) * | 2012-06-01 | 2013-12-18 | 苏州敏行医学信息技术有限公司 | Laparoscopic surgery simulation system based on force feedback |
| CN103268726A (en) * | 2013-05-20 | 2013-08-28 | 浙江大学 | Ultrasonic-guided needle puncture operation simulation training system |
| CN103268726B (en) * | 2013-05-20 | 2015-06-17 | 浙江大学 | Ultrasonic-guided needle puncture operation simulation training system |
| CN103473977A (en) * | 2013-09-27 | 2013-12-25 | 淮阴师范学院 | Scalpel interface device for virtual surgery training to achieve human-computer interaction |
| CN104622571A (en) * | 2013-11-14 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Closed-loop force control device based on magnetic powder clutch control mode |
| CN104622571B (en) * | 2013-11-14 | 2017-02-22 | 沈阳新松机器人自动化股份有限公司 | Closed-loop force control device based on magnetic powder clutch control mode |
| CN104794949B (en) * | 2014-01-22 | 2017-06-09 | 东南大学 | A kind of two-dimentional dynamic sensing interexchanging apparatus for realizing bone marrow aspiration virtual operation |
| CN105989769A (en) * | 2015-02-02 | 2016-10-05 | 中国科学院沈阳自动化研究所 | Spine minimally invasive surgery simulation force feedback operation training device and method |
| CN105193508A (en) * | 2015-10-23 | 2015-12-30 | 哈尔滨工程大学 | Experiment table for three-dimensional force calibration of surgical micro instrument |
| CN108472100A (en) * | 2016-01-26 | 2018-08-31 | 索尼公司 | Grip sense feedback device and stylus formula force feeling feedback device |
| CN108472100B (en) * | 2016-01-26 | 2021-06-11 | 索尼公司 | Grip strength feedback device and stylus type force feedback device |
| CN105596084A (en) * | 2016-02-02 | 2016-05-25 | 上海交通大学 | Cardiovascular intervention operation robot |
| CN107374737A (en) * | 2017-07-06 | 2017-11-24 | 北京理工大学 | A kind of intervention operation robot catheter guide wire cooperating system and its control method |
| CN107374737B (en) * | 2017-07-06 | 2018-10-30 | 北京理工大学 | A kind of intervention operation robot catheter guide wire cooperating system |
| CN107307909A (en) * | 2017-07-06 | 2017-11-03 | 北京理工大学 | One kind intervention robot remote operating system and its control method |
| CN107545809A (en) * | 2017-09-28 | 2018-01-05 | 北京理工大学 | Training method and support intervention operative training system |
| CN107945603A (en) * | 2017-11-13 | 2018-04-20 | 华中科技大学鄂州工业技术研究院 | A kind of device for force feedback of two-freedom virtual operation |
| CN111434315A (en) * | 2019-01-15 | 2020-07-21 | 北京理工大学 | Puncture angle adjusting device and puncture auxiliary robot |
| CN111434315B (en) * | 2019-01-15 | 2021-04-13 | 北京理工大学 | Puncture angle adjusting device and puncture auxiliary robot |
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| CN101702277B (en) | 2011-05-04 |
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