CN103473978A - Surgical forceps interface device for virtual surgery training to achieve human-computer interaction - Google Patents
Surgical forceps interface device for virtual surgery training to achieve human-computer interaction Download PDFInfo
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- CN103473978A CN103473978A CN2013104462166A CN201310446216A CN103473978A CN 103473978 A CN103473978 A CN 103473978A CN 2013104462166 A CN2013104462166 A CN 2013104462166A CN 201310446216 A CN201310446216 A CN 201310446216A CN 103473978 A CN103473978 A CN 103473978A
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Abstract
The invention discloses a surgical forceps interface device for virtual surgery training to achieve human-computer interaction. The surgical forceps interface device comprises a mounting base (1) and a surgical forceps device (6) arranged on the mounting base (1). The surgical forceps interface device is characterized in that the mounting base (1) is further provided with a plurality of active/passive hybrid drives and a link mechanism, and the surgical forceps device (6) is connected with the mounting base (1) through the active/passive hybrid drives and the link mechanism. The surgical forceps interface device provides a good solution scheme that active drives are used for compensating non-beneficial comprehensive damping force of passive force touch sense interaction equipment, and effectively solves the problem that the passive force touch sense interaction equipment can not simulate energy storage elements.
Description
Technical field
The present invention relates to medical assistance technique with the apparatus field, be specifically related to realize for the virtual operation training operating forceps interface arrangement of man-machine interaction.
Background technology
Along with scientific and technological development, people are more and more higher to the requirement of life and health quality, countries in the world to medical skill particularly operating security higher requirement is proposed, statistics shows, the error of clinical operation 80% is that human error causes.HealthGrades of health care rating organization of the U.S. has carried out an investigation of 3 years by a definite date, result shows: at investigating period, have 230,000 people and die from surgical error, so operative training is very important for the surgical growth of youth, yet there are problems in the traditional operation training patterns, in order to solve the limitation of traditional operation training patterns, the virtual operation technology becomes one of research in recent years focus.
Traditional operative training depends on corpse, patient, inorganic material synthetic model of living animal, animal and human etc., many problems are faced with formidable challenges operative training, living animal generally can not go out the human anatomy feature by accurate response, and cost is higher and be subject to the restriction of animal protection relevant law; Spoil is comparatively cheap, the problem that still anatomical features of existence and human body differs greatly; People's corpse negligible amounts, have different physiological characteristics from the organ-tissue of live body, can not produce bleed, the physiological phenomenon such as blood pressure, and there are the nonrepeatability characteristics, also relate to morals and ethics problem; When for patient, carrying out operative training, bad degree of depth sense of touch, limited visual zone and improperly hand eye coordination be easy to patient is produced to injury, exist very large danger; The shortcoming of inorganic material synthetic model is comparatively obvious, comprises physiological characteristic poor reproducibility and the limited problems such as variability of anatomical features of existing.Therefore young surgeon participates in operative training chance and number of times are limited by very large, and want the level of skill that reaches necessary to need study for a long time and training repeatedly, for example, a doctor wants to make keyhole surgery to reach skilled degree needs the surgical procedure training of at least 750 times.High speed development along with Robotics, computer graphics, physiotechnology and mathematical modeling technology, the operative training that virtual operation training system based on virtual reality is medical personnel provides chance, and the series of problems also faced for the traditional operation training provides a kind of tool potential solution.In the virtual operation training process, the doctor is performed the operation to virtual organ by the power haptic apparatus, feel all right as in the middle of they are in real environment, real organ being operated, virtual operation is unconfined repetitive operation in the least not only, and different training difficulty can be set as required, allow healthcare givers's repetition training of different stage, the result of training also can be preserved and be facilitated later study, and the cost that training is spent is also very low.Simultaneously can be used for assessing surgical outcome, length, the patient's of quantity, the operation pathway of terseness, the human error of degree of accuracy, the action of operating time, operation technique security, trainee individual satisfaction etc. have been comprised, raising by these basic parameters, can guarantee successful surgery and lower patient's misery, improve success rate of operation.The experience obtained in virtual operation can be applied in actual operation, the research of Reznick and MacRae shows: the doctor who trains by virtual operation its speed when doing the dissection operation is faster, error still less and move that more the terseness score is higher, assessment according to people such as Larsen and Soerensen, the experience obtained from the virtual operation training can be directly used in operating room, in first operation, through doctor's operant level of to a certain degree training, can reach the level through a year or clinical training doctor of longer time.Plant not only safety but also the training program of saving and be proved effective because the virtual operation training system provides, having obtained countries in the world and more and more pay close attention to.
What exist at present trains for virtual operation the operation tool interface arrangement of realizing man-machine interaction, no matter be business-like dynamic sensing interexchanging apparatus, also be based on the power haptic interaction device of these equipment developments, or other power haptic interaction device newly developed, great majority are by motor-driven active force haptic interaction device, active power haptic interaction device has very large dirigibility while training for virtual operation, but exists following problem:
(1) stability is relatively poor, and this is mainly to be caused by motor or the intrinsic characteristic of other active drive device self;
(2) fidelity is relatively poor, during in the hard contact of simulation as to tooth or bone-operating, motor easily produces vibration in the stall state, cause with the true environment operation and compare, distortion is larger, when simulation human body human body operation on soft tissue, because human body when injected organism tissue particularly viscera tissue is not the elastic body on complete meaning, when pressurized, cutting or acupuncture, it is nonlinear elastic deformation, there is certain glutinousness feature, therefore utilize initiatively interactive device to organize the simulation of surgical procedure to have larger distortion to these;
(3) there is certain danger, although the securities of many redundant components to guarantee that whole system operates that current virtual operation training interactive device is integrated, in fact these Redundancy Design strategies have also reduced the risk of accident surgery widely, but the thrashing that may exist can make the patient come to harm, cause the factor of thrashing that motor, amplifier, sensor fault are arranged, be likely also the undiscovered program error existed in the complex control algorithm, the recoil strength of motor easily produces injury to the operator on the other hand;
(4) volume is larger, and research shows, produces the power of formed objects, and the volume of active drive device is more much bigger than passive matrix device, causes thus the inertia of driving mechanism, friction force all larger, also easily causes larger distortion;
(5) energy consumption is larger, a motor-driven small-business force feedback operating rod applies continuous power consumed power to the operator and reaches 10 ~ 30 watts, and the energy of a desk-top force feedback equipment consumption will be more, therefore need to be equipped with external power adapter, the portability of equipment is had a greatly reduced quality, and this is also a very large problem in the design of active force sense interactive device.
Passive type power interactive device is applied to can keep stability, security and lower energy consumption preferably in the virtual operation training, but the Mechanical Contact because the generation of feedback force places one's entire reliance upon, so easily cause the vibration of system when using the high-speed switch controller to control, also there is great difficulty in simulation when injected organism tissue compliance.What is more, and friction material has higher kinetic friction coefficient, easily causes stick-slip phenomenon to occur, and this phenomenon can cause the discontinuous of feedback force, makes simulation process distortion occur.In addition, by the dynamical type haptic interaction device, also there is born shortcoming, can't simulate the energy storage object as elastic body.Although magnetic flow liquid can be simulated the glutinousness object preferably, but people's when injected organism tissue has elasticity and glutinousness simultaneously, utilize the power haptic interaction device of passive matrix device design to have certain non-useful comprehensive damping force, the intrinsic deficiency of equipment makes these non-useful comprehensive damping forces to be compensated, therefore can't simulate the power that is less than its non-useful comprehensive damping force, as produced distortion when simulation is moved without constraint space.
Summary of the invention
The purpose of this invention is to provide a kind of fidelity high, the phenomenons such as when injected organism tissue shearing, clamp are realized to the operating forceps interface arrangement of man-machine interaction in the virtual operation training in can the sham operated process, it is a solution preferably by the non-useful comprehensive damping force of power haptic interaction device that the present invention utilizes active drive device compensation, and has effectively solved by power haptic interaction device and can't simulate the energy-storage travelling wave tube problem.
The present invention is achieved through the following technical solutions:
Realize the operating forceps interface arrangement of man-machine interaction for the virtual operation training, comprise the upper operating forceps device (6) arranged of mounting seat (1) and mounting seat (1), it is characterized in that: also be provided with a plurality of active/passive hybrid drives and linkage assembly on described mounting seat (1), operating forceps device (6) is connected with mounting seat (1) by active/passive hybrid drive and linkage assembly;
Described active/passive hybrid drive comprises the first active/passive hybrid drive (2), the second active/passive hybrid drive (3);
Described linkage assembly comprises first connecting rod (4), second connecting rod (5);
The described first active/passive hybrid drive (2), the second active/passive hybrid drive (3) all is fixedly installed on the horizontal bottom of mounting seat (1), the first active/passive hybrid drive (2) is connected with an end of first connecting rod (4) by the upper bearing arranged of output shaft (7), the opposite end of first connecting rod (4) is connected with the A handle (61) of operating forceps device (6) by universal joint, the second active/passive hybrid drive (3) is connected with an end of second connecting rod (5) by the upper bearing arranged of output shaft (8), the opposite end of second connecting rod (5) is connected with the B handle (62) of operating forceps device (6) by universal joint,
The described first active/passive hybrid drive (2), the second active/passive hybrid drive (3) and operating forceps device (6) carry out data interaction by controller and virtual operation environment.
The further Technological improvement plan of the present invention is:
Described operating forceps device (6) comprises operating forceps (64) and A handle (61) thereof, the upper power sensor (63) arranged of B handle (62).
The further Technological improvement plan of the present invention is:
Described active/passive hybrid drive comprises drive motor (8), speed reduction unit (9), magnetic current electricity fluid damper (10) and angular transducer (11), drive motor (8) is rotationally connected by speed reduction unit (9) and magnetic rheological liquid damper (10), magnetic rheological liquid damper (10) is provided with output shaft (7), and angular transducer (11) is positioned at drive motor (8) bottom.
The further Technological improvement plan of the present invention is:
The described first active/passive hybrid drive (2) is positioned at same vertical plane with the axis of the second active/passive hybrid drive (3) output shaft (7), and both axis be arranged in parallel.
Patent of the present invention compared with prior art, has following obvious advantage:
1, the present invention adopts the magnetic converting technique magnetic current electricity fluid damper based on emerging, magnetic flow liquid produces magnetic rheology effect under magnetic fields, the apparent viscosity that characterizes magnetic current and liquid flow variation characteristic is changed, can from the Newtonian liquid state variation, be the class solid state in moment, and this process is reversible, so magnetic flow liquid has unique advantage aspect simulation when injected organism tissue compliance.Magnetic rheological liquid damper is not directly contact of machinery, but utilizes the fluid carry-over moment, therefore more stable and continuous.
2, magnetic current electricity fluid damper of the present invention can be simulated the glutinousness feature of when injected organism tissue effectively, can't simulate the flexible stress characteristic of when injected organism tissue, therefore adopt motor to combine with magnetic rheological liquid damper, the active/passive hybrid drive that composition combines based on motor and magnetic rheological liquid damper, can realize the simulation of when injected organism tissue elasticity and glutinousness, moreover, hybrid drive can be realized in a big way and the force feedback of response fast, make the operating forceps interface arrangement can with high fidelity simulate the shearing to the different when injected organism tissues of human body (from harder bone tissue to softer brain tissue), the processes such as clamp.
3, the present invention adopts the operating forceps device to clamp when injected organism tissue shearing, clamp by sham operated, and the effect of not stressing on other direction of motion, make surgical procedure simulation better authenticity.
4, the present invention is simple in structure, and whole apparatus structure is simple, compact, and machining accuracy requires also not high.
5, the whole device of the present invention adopts light material to make, and makes its moment of inertia little, and the non-useful comprehensive damping forces such as magnetic rheological liquid damper and machining friction force can compensate by motor, thereby make operating forceps damping force under free state very little.
6, the present invention controls simply, and there are clear and definite funtcional relationship in current signal and magnetic rheological liquid damper output torque signal, therefore only need provide current signal just can control exactly its action to damper.
The accompanying drawing explanation
Fig. 1 is interface arrangement structural representation of the present invention;
Fig. 2 is the active/passive hybrid drive structural representation of the present invention sketch;
Fig. 3 is systematic schematic diagram of the present invention.
Embodiment
As shown in Figure 1, 2, 3, the present invention includes the operating forceps device 6 arranged on mounting seat 1 and mounting seat 1, also be provided with a plurality of active/passive hybrid drives and linkage assembly on mounting seat 1, operating forceps device 6 is connected with mounting seat 1 by active/passive hybrid drive and linkage assembly; Operating forceps device 6 comprises the power sensor 63 arranged on operating forceps 64 and A handle 61 thereof, B handle 62; Active/passive hybrid drive comprises the active/passive hybrid drive 3 of the first active/passive hybrid drive 2, second; The axis of the described first active/passive hybrid drive 2 and the second active/passive hybrid drive 3 output shafts 7 is positioned at same vertical plane, and both axis be arranged in parallel; Active/passive hybrid drive comprises drive motor 8, speed reduction unit 9, magnetic rheological liquid damper 10 and angular transducer 11, drive motor 8 is rotationally connected by speed reduction unit 9 and magnetic rheological liquid damper 10, magnetic rheological liquid damper 10 is provided with output shaft 7, and angular transducer 11 is positioned at drive motor 8 bottoms; Linkage assembly comprises first connecting rod 4, second connecting rod 5; The active/passive hybrid drive 3 of the first active/passive hybrid drive 2, second all is fixedly installed on the horizontal bottom of mounting seat 1, the first active/passive hybrid drive 2 is connected with an end of first connecting rod 4 by the bearing arranged on output shaft 8, the opposite end of first connecting rod 4 is connected with the A handle 61 of operating forceps device 6 by universal joint, the second active/passive hybrid drive 3 is connected with an end of second connecting rod 5 by the bearing arranged on output shaft 8, and the opposite end of second connecting rod 5 is connected with the B handle 62 of operating forceps device 6 by universal joint; The first active/passive hybrid drive 3 of active/passive hybrid drive 2, second and operating forceps device 6 carry out data interaction by controller and virtual operation environment.
Sketch by reference to the accompanying drawings principle of work of the present invention:
Scalpel interface arrangement structure of the present invention is as Fig. 1, shown in 2, operating forceps and patient that the trainer controls under the virtual operation environment by the operation clamp handle carry out alternately, operating forceps two jaws make to open or clamp jaw opening and closing angle and the speed of the angular transducer measurement operating forceps of active/passive hybrid drive while moving, controlling the virtual operation pincers moves in the virtual operation environment by identical opening and closing angle and speed, affected area as the tactile patient of virtual operation cramp joint, the acting force of virtual when injected organism tissue will be subject to, this force signal is delivered to the operating forceps interface arrangement by controller, control the active/passive hybrid drive action of operating forceps interface arrangement, hand the people produces onesize power, the A handle 61 of while operating forceps 64, the power sensor of B handle 62 detects this power, and this power is compared with the power from the virtual environment be passed back, if any deviation, adjusted immediately, make the stressed virtual operation of can following the tracks of real-time and accurately of trainer's hand clamp stressed.The active/passive hybrid drive of operating forceps interface arrangement is stirred the simulation of when injected organism tissue power about can realizing, the operating forceps interface arrangement can also be realized the simulation that when injected organism tissue is sheared, can be for operating scissors Man Machine Interface device.Therefore, the present invention is for the simulation of the power such as the virtual operation training realizes that the operating forceps interface arrangement of man-machine interaction can realize that clamp, shearing and the left and right of when injected organism tissue are stirred, again because adopt the driver based on motor and magnetic rheological liquid damper combination drive, make the operative training process have more authenticity, for effectively promoting the raising of young doctor surgical technic, play positive role.
The part that the present invention does not relate to all prior art that maybe can adopt same as the prior art is realized.
Claims (4)
1. realize the operating forceps interface arrangement of man-machine interaction for the virtual operation training, comprise the upper operating forceps device (6) arranged of mounting seat (1) and mounting seat (1), it is characterized in that: also be provided with a plurality of active/passive hybrid drives and linkage assembly on described mounting seat (1), operating forceps device (6) is connected with mounting seat (1) by active/passive hybrid drive and linkage assembly;
Described active/passive hybrid drive comprises the first active/passive hybrid drive (2), the second active/passive hybrid drive (3);
Described linkage assembly comprises first connecting rod (4), second connecting rod (5);
The described first active/passive hybrid drive (2), the second active/passive hybrid drive (3) all is fixedly installed on the horizontal bottom of mounting seat (1), the first active/passive hybrid drive (2) is connected with an end of first connecting rod (4) by the upper bearing arranged of output shaft (8), the opposite end of first connecting rod (4) is connected with the A handle (61) of operating forceps device (6) by universal joint, the second active/passive hybrid drive (3) is connected with an end of second connecting rod (5) by the upper bearing arranged of output shaft (7), the opposite end of second connecting rod (5) is connected with the B handle (62) of operating forceps device (6) by universal joint,
The described first active/passive hybrid drive (2), the second active/passive hybrid drive (3) and operating forceps device (6) carry out data interaction by controller and virtual operation environment.
2. the operating forceps interface arrangement of realizing man-machine interaction for virtual operation training according to claim 1 is characterized in that: described operating forceps device (6) comprises operating forceps (64) and A handle (61) thereof, the upper power sensor (63) arranged of B handle (62).
3. the operating forceps interface arrangement of realizing man-machine interaction for virtual operation training according to claim 1 and 2, it is characterized in that: described active/passive hybrid drive comprises drive motor (8), speed reduction unit (9), magnetic rheological liquid damper (10) and angular transducer (11), drive motor (8) is rotationally connected by speed reduction unit (9) and magnetic current electricity fluid damper (10), magnetic rheological liquid damper (10) is provided with output shaft (7), and angular transducer (11) is positioned at drive motor (8) bottom.
4. the operating forceps interface arrangement of realizing man-machine interaction for virtual operation training according to claim 1 and 2, it is characterized in that: the described first active/passive hybrid drive (2) is positioned at same vertical plane with the axis of the second active/passive hybrid drive (3) output shaft (7), and both axis be arranged in parallel.
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| WO2018219193A1 (en) * | 2017-05-27 | 2018-12-06 | 东南大学 | Small haptic reproduction method based on active and passive devices |
| CN109064861A (en) * | 2018-09-20 | 2018-12-21 | 武汉湾流科技股份有限公司 | A kind of laparoscopic instrument pliers for laparoscope simulation operation |
| CN110146272A (en) * | 2019-06-03 | 2019-08-20 | 浙江省医疗器械检验研究院 | A kind of endoscopic surgery clamping force carry-over factor test device |
| CN116168585A (en) * | 2023-04-26 | 2023-05-26 | 江西明天高科技股份有限公司 | Hemostatic forceps simulator |
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