CN103632594A - Force feedback device for minimally invasive surgery training system - Google Patents
Force feedback device for minimally invasive surgery training system Download PDFInfo
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- CN103632594A CN103632594A CN201310652242.4A CN201310652242A CN103632594A CN 103632594 A CN103632594 A CN 103632594A CN 201310652242 A CN201310652242 A CN 201310652242A CN 103632594 A CN103632594 A CN 103632594A
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- force feedback
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- 238000012549 training Methods 0.000 title claims abstract description 26
- 238000002324 minimally invasive surgery Methods 0.000 title claims abstract description 19
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 45
- 239000010959 steel Substances 0.000 claims abstract description 45
- 238000012545 processing Methods 0.000 claims abstract description 13
- 238000006073 displacement reaction Methods 0.000 claims abstract description 9
- 230000007306 turnover Effects 0.000 claims description 27
- 230000033001 locomotion Effects 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 7
- 238000013461 design Methods 0.000 abstract description 2
- 210000000056 organ Anatomy 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008676 import Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 230000005180 public health Effects 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Abstract
The invention relates to the field of design of medical apparatus, in particular to a force feedback device for a minimally invasive surgery training system. The force feedback device comprises a handle and a support which supports the handle to move back and forth, up and down and side to side. A displacement sensor and a force feedback unit are disposed between the handle and the support. The displacement sensor is used for acquiring location information of the handle and outputting the location information to a processing unit. The force feedback unit is used for control signals output by the processing unit and applying a feedback force to the handle through a steel wire. A direction of the feedback force applied by the force feedback unit to the handle is opposite to a moving direction of the handle before touch. The force is fed back by the force feedback unit in forward, backward, leftward, rightward, upward and downward directions. The steel wire is used for transmitting the force. The effect of force feedback is more approximate to true touch of hands; an intern can be trained better with the minimally invasive surgery training system comprising the force feedback device.
Description
Technical field
The present invention relates to Design for Medical Device field, particularly a kind of for the device for force feedback on Minimally Invasive Surgery training system.
Background technology
Endoscope minimally invasive operation intern and basic hospital doctor, the scope training base that is necessary very much to have the training qualification that scope examination committee of the Ministry of Public Health assert gives training, cultivation to scope Wicresoft shell apparatus, from picking up scope that time, until last operation finishes, standardization step by step, the standard operation of these program modes seems basis, in fact very necessary, if the custom lasting for years of operation lack of standardization, not only affect medicine equipment quality, the cultivation of the new medicine equipment of doctor's its knowledge skill master is also done harm rather than good.
The Minimally Invasive Surgery training system using at present, mainly from external import, not only expensive in external training system price, its force feedback system is mainly realized by modes such as motor, gears, true to nature not.When training, when intern or basic hospital doctor operation apparatus, operating theater instruments front end and virtual organ are touched, organ can feed back to acting force of operating theater instruments, existing these devices are when providing this feedback force, more stiff, while operating with actual operation, touch the power that organ feeds back inconsistent, the feel of providing to doctor is not good.Even if some doctor uses this cover system to train, and the various operations that standardize, but when its practical operation, due to the difference of feel, still there is risk.
Summary of the invention
The object of the present invention is to provide a kind ofly for the device for force feedback on Minimally Invasive Surgery training system, fully sham operated apparatus contacts produced feedback force with organ.
For realizing above object, the technical solution used in the present invention is: a kind of for the device for force feedback on Minimally Invasive Surgery training system, comprise before and after handle and support handle, up and down, the support of side-to-side movement, between handle and support, be provided with displacement transducer, force feedback unit, described displacement transducer is for gathering the positional information of handle and exporting processing unit to, the control signal of reception & disposal unit, force feedback unit output also applies a feedback force by steel wire to handle, direction of motion before the direction that force feedback unit imposes on the feedback force of handle is touched with handle is contrary.
Compared with prior art, there is following technique effect in the present invention: the feedback of carrying out power here by force feedback unit, comprised front, back, left, right, up, down six direction, and use steel wire to carry out the transmission of power, the feedback effects of its power more approaches real touching feel, walk the hospitals and train by the Minimally Invasive Surgery training system that uses this device for force feedback to form, its training effect is better.
Accompanying drawing explanation
Fig. 1 is three-dimensional structure diagram of the present invention;
Fig. 2 is the three-dimensional structure diagram at another visual angle of the present invention, and wherein steel wire is not shown;
Fig. 3 is side view of the present invention, does not wherein comprise handle;
Fig. 4 is that turnover bracket coordinates schematic diagram with handle;
Fig. 5 is that turnover bracket partly cuts open schematic diagram;
Fig. 6 is the structural representation of base.
Embodiment
Below in conjunction with Fig. 1 to Fig. 6, the present invention is described in further detail.
A kind of for the device for force feedback on Minimally Invasive Surgery training system, comprise handle 40 and support handle 40 front and back, up and down, the support of side-to-side movement, between handle 40 and support, be provided with displacement transducer, force feedback unit, described displacement transducer is for gathering the positional information of handle 40 and exporting processing unit to, the control signal of reception & disposal unit, force feedback unit output also applies a feedback force by steel wire to handle 40, direction of motion before the direction that force feedback unit imposes on the feedback force of handle 40 is touched with handle 40 is contrary, direction of motion before handle 40 is touched refers to while moving in the direction and is about to, in intracorporeal organ, touching phenomenon occurs.Support will guarantee that handle 40 is in six direction free movement, when trainer's operating grip 40, the positional information of handle 40 gathers and outputs in processing unit by displacement transducer, processing unit judges whether handle 40 bumps with virtual human organ, if bumped, exporting control signal controls to force feedback unit, force feedback unit is to 40 1 rightabout power of handle, owing to transmitting feedback force by steel wire between force feedback unit and handle 40, this feedback force is unlikely too stiff, more approach real touching feedback feel, training for promotion effect.Meanwhile, this structure is very simple, easily realizes, and only from hardware, makes slightly and just improves and can realize.
Consult Fig. 1, Fig. 2, Fig. 3, in order to realize the six direction free movement of handle 40, can adopt the means such as universal joint to realize, as preferred version of the present invention, described support comprises base 10, rotary support 20, turnover bracket 30, described rotary support 20 is fixed on base 10 by the first rotating shaft, rotary support 20 rotates in surface level around the first rotating shaft, described turnover bracket 30 is fixed on rotary support 20 by the second rotating shaft 31, turnover bracket 30 rotates in vertical plane around the second rotating shaft 31, handle 40 comprises guide rod 41, described guide rod 41 forms along the slippage of bar length direction and coordinates with the slide rail 32 of turnover bracket 30 interior settings, bar length direction is perpendicular to the second rotating shaft 31.Base 10 with realize the action of handle 40 in horizontal extent coordinating of rotary support 20, rotary support 20 with realize the action of handle in vertical range coordinating of turnover bracket 30, guide rod 41 with realize handle coordinating of slide rail 32 along the action of guide rod 41 length directions, non-interference between all directions actions, operate very flexibly; Meanwhile, the setting that is more conducive to force feedback unit is set like this: described force feedback unit comprises the 3rd feedback unit arranging between the second feedback unit, turnover bracket 30 and the guide rod 41 arranging between the first feedback unit, rotary support 20 and the turnover bracket 30 arranging between base 10 and rotary support 20.Below in conjunction with the present embodiment, the structure of first, second and third feedback unit is described in detail:
The first described feedback unit comprises the first motor 11 being arranged on base 10, the first rotating disk 12 being connected with rotary support 20, the axle core of the first motor 11 and the first rotating disk 12 is arranged in parallel, as shown in Figure 6, processing unit output control signal is controlled the first motor 11 forwards/reverse/stop, the first motor 11 drives the first rotating disk 12 to rotate by the first steel wire 13, described rotary support 20 comprises U-shaped 21, fixed mount 22, the bottom of U-shaped 21 is fixed on the mandrel 121 at the first rotating disk 12 centre of gyration places, and this mandrel 121 forms the first described rotating shaft.U-shaped 21 is directly fixed on the first rotating disk 12, when the first rotating disk 12 rotates, drives U-shaped 21 rotation.
U-shaped described 21 tops are closing in shape and are provided with flange upward, offer through hole for arranging the second described rotating shaft 31 on flange, and fixed mount 22 is fixed on the bottom of U-shaped 21, the second described feedback unit comprises the second motor 221 being arranged on fixed mount 22, the second rotating disk 222, the second motor 221, the axle core of the second rotating disk 222 and the second rotating shaft 31 is arranged in parallel, processing unit is also exported control signal and is controlled the second motor 221 forwards/reverse/stop, the second motor 221 drives the second rotating disk 222 to rotate by the second steel wire 223, the second rotating disk 222 drives turnover bracket 30 to swing around the second rotating shaft 31 by toggle, described toggle comprises the crank 224 being hinged, connecting rod 225, crank 224 is connected with the second rotating disk 222, the bottom-hinged of the rod end of connecting rod 225 and turnover bracket 30.After arranging like this, when the second rotating disk 222 rotates, just can drive turnover bracket 30 to swing around the second rotating shaft 31.
The 3rd described feedback unit comprises the 3rd motor 33, the 3rd rotating disk 34 and the 4th rotating disk 35 being arranged on turnover bracket 30, the axle core of the 3rd motor 33, the 3rd rotating disk 34 and the second rotating shaft 31 is arranged in parallel, processing unit is also exported control signal and is controlled the 3rd motor 33 forwards/reverse/stop, the 3rd motor 33 drives the 3rd rotating disk 34 to rotate by the 3rd steel wire 36, third and fourth rotating disk 34,35 coaxial rotation, 35 of guide rod 41 and the 4th rotating disks pass through the 4th steel wire 37 transmission of drive force.
For described above and motor by steel wire, drive dial rotation can have numerous embodiments, here providing a kind of comparatively preferred, is also simultaneously very simple structure: after the some circles of axle body of the first described steel wire 13 around the first motor 11, postpone to the first rotating disk 12 places and form loop-like around the axle body place that the some circles of periphery of the first rotating disk 12 continue to postpone to the first motor 11 again; Second and third described steel wire 223,36 is all loop-like layout, and the mode of its layout is consistent with the first steel wire 13, has just repeated no more here.
Consult Fig. 4, Fig. 5, due to rotary support 20, turnover bracket 30 itself rotates, it implements comparatively easy, but the 3rd feedback unit need to provide the feedback force consistent with guide rod 41 directions, rather than the feedback force rotating, it implements complicated a little point, it is for reference that the present embodiment provides a kind of scheme comparatively easily realizing: the second described rotating shaft 31 is positioned at the middle part of turnover bracket 30, slide rail 32 is positioned at the top of the second rotating shaft 31, before the two ends that are positioned at slide rail 32 on turnover bracket 30 are respectively arranged with, rear wheel 38, 39, the pulley of the front wheel 38 close guide rod front ends of saying here.The 4th rotating disk 35 is positioned at the below of the second rotating shaft 31, one end of the 4th steel wire 37 is fixed on the front end of guide rod 41, and through front wheel 38, the 4th rotating disk 35, rear wheel 39, be fixed on successively the rear end of guide rod 41, in the postpone shaft layout of guide rod 41 of the 4th steel wire 37 between front wheel 38 and guide rod 41 front ends and the 4th steel wire 37 between rear wheel 39 and guide rod 41 rear ends; In the 4th steel wire 37 between front wheel 38 and the 4th rotating disk 35 and the cross-shaped layout of the 4th steel wire 37 between rear wheel 39 and the 4th rotating disk 35.The 4th steel wire 37 between the 4th steel wire 37 between process front wheel 38 and the 4th rotating disk 35 and process rear wheel 39 and the 4th rotating disk 35 is also through the second rotating shaft 31.
As preferred version of the present invention: the number of turns that the first described steel wire 13 is looped around the first motor 11 axle bodies is three circles, and the number of turns that the first steel wire 13 is looped around the first rotating disk 12 peripheries is three circles; Second and third described steel wire 223,36 is consistent around the number of turns with the first steel wire 13, is also around three circles; The 4th described steel wire 37 is two circles around the number of turns of the 4th rotating disk 35.The transmission effect of how many influence powers of the number of turns, the degree true to nature of feedback force, specifically need to select according to actual operating effect.In the application, by steel wire drive, be mainly that non-rigid contact of touching occurs for more real simulating handle 40 and organ, the suffered feedback force size of handle 40 is controlled by the rotating speed size of each motor.
Claims (9)
1. one kind for the device for force feedback on Minimally Invasive Surgery training system, it is characterized in that: comprise before and after handle (40) and support handle (40), up and down, the support of side-to-side movement, between handle (40) and support, be provided with displacement transducer, force feedback unit, described displacement transducer is used for gathering the positional information of handle (40) and exporting processing unit to, the control signal of reception & disposal unit, force feedback unit output also applies a feedback force by steel wire to handle (40), direction of motion before the direction that force feedback unit imposes on the feedback force of handle (40) is touched with handle (40) is contrary.
2. as claimed in claim 1 for the device for force feedback on Minimally Invasive Surgery training system, it is characterized in that: described support comprises base (10), rotary support (20), turnover bracket (30), described rotary support (20) is fixed on base (10) by the first rotating shaft, rotary support (20) rotates in surface level around the first rotating shaft, described turnover bracket (30) is fixed on rotary support (20) by the second rotating shaft (31), turnover bracket (30) rotates in vertical plane around the second rotating shaft (31), handle (40) comprises guide rod (41), described guide rod (41) forms along the slippage of bar length direction and coordinates with the slide rail (32) arranging in turnover bracket (30), bar length direction is perpendicular to the second rotating shaft (31).
3. as claimed in claim 2 for the device for force feedback on Minimally Invasive Surgery training system, it is characterized in that: described force feedback unit comprises the 3rd feedback unit arranging between the second feedback unit, turnover bracket (30) and the guide rod (41) arranging between the first feedback unit, rotary support (20) and the turnover bracket (30) arranging between base (10) and rotary support (20).
4. as claimed in claim 3 for the device for force feedback on Minimally Invasive Surgery training system, it is characterized in that: the first described feedback unit comprises the first motor (11) being arranged on base (10), the first rotating disk (12) being connected with rotary support (20), the first motor (11) is arranged in parallel with the axle core of the first rotating disk (12), processing unit output control signal is controlled the first motor (11) forward/reversion/stopping, the first motor (11) drives the first rotating disk (12) to rotate by the first steel wire (13), described rotary support (20) comprises U-shaped (21), fixed mount (22), the bottom of U-shaped (21) is fixed on the mandrel (121) at the first rotating disk (12) centre of gyration place, this mandrel (121) forms the first described rotating shaft.
5. as claimed in claim 4 for the device for force feedback on Minimally Invasive Surgery training system, it is characterized in that: U-shaped described (21) top is closing in shape and is provided with flange upward, on flange, offer through hole for arranging described the second rotating shaft (31), fixed mount (22) is fixed on the bottom of U-shaped (21), the second described feedback unit comprises the second motor (221) being arranged on fixed mount (22), the second rotating disk (222), the second motor (221), the axle core of the second rotating disk (222) and the second rotating shaft (31) is arranged in parallel, processing unit is also exported control signal and is controlled the second motor (221) forward/reversion/stopping, the second motor (221) drives the second rotating disk (222) to rotate by the second steel wire (223), the second rotating disk (222) drives turnover bracket (30) to swing around the second rotating shaft (31) by toggle, described toggle comprises the crank (224) being hinged, connecting rod (225), crank (224) is connected with the second rotating disk (222), the bottom-hinged of the rod end of connecting rod (225) and turnover bracket (30).
6. as claimed in claim 5 for the device for force feedback on Minimally Invasive Surgery training system, it is characterized in that: the 3rd described feedback unit comprises the 3rd motor (33) being arranged on turnover bracket (30), the 3rd rotating disk (34) and the 4th rotating disk (35), the 3rd motor (33), the axle core of the 3rd rotating disk (34) and the second rotating shaft (31) is arranged in parallel, processing unit is also exported control signal and is controlled the 3rd motor (33) forward/reversion/stopping, the 3rd motor (33) drives the 3rd rotating disk (34) to rotate by the 3rd steel wire (36), the 3rd, four rotating disks (34, 35) coaxial rotation, between guide rod (41) and the 4th rotating disk (35), pass through the 4th steel wire (37) transmission of drive force.
7. as claimed in claim 6 for the device for force feedback on Minimally Invasive Surgery training system, it is characterized in that: after the some circles of axle body of described the first steel wire (13) around the first motor (11), postpone to the first rotating disk (12) and locate and the axle body place that continues again to postpone to the first motor (11) around the some circles of periphery of the first rotating disk (12) forms loop-like; Second and third described steel wire (223,36) is all loop-like layout.
8. as claimed in claim 6 for the device for force feedback on Minimally Invasive Surgery training system, it is characterized in that: described the second rotating shaft (31) is positioned at the middle part of turnover bracket (30), slide rail (32) is positioned at the top of the second rotating shaft (31), before the two ends that are positioned at slide rail (32) on turnover bracket (30) are respectively arranged with, rear wheel (38, 39), the 4th rotating disk (35) is positioned at the below of the second rotating shaft (31), one end of the 4th steel wire (37) is fixed on the front end of guide rod (41), and pass through successively front wheel (38), the 4th rotating disk (35), rear wheel (39) is fixed on the rear end of guide rod (41), be positioned at the 4th steel wire (37) between front wheel (38) and guide rod (41) front end and be positioned at rear wheel (39) and guide rod (41) rear end between the postpone shaft of guide rod (41) of the 4th steel wire (37) arrange, be positioned at the 4th steel wire (37) between front wheel (38) and the 4th rotating disk (35) and be positioned at rear wheel (39) and the 4th rotating disk (35) between the cross-shaped layout of the 4th steel wire (37).
9. as claimed in claim 8 for the device for force feedback on Minimally Invasive Surgery training system, it is characterized in that: the number of turns that described the first steel wire (13) is looped around the first motor (11) axle body is three circles, the number of turns that the first steel wire (13) is looped around the first rotating disk (12) periphery is three circles; Second and third described steel wire (223,36) is consistent around the number of turns with the first steel wire (13); The 4th described steel wire (37) is two circles around the number of turns of the 4th rotating disk (35).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310652242.4A CN103632594B (en) | 2013-12-06 | 2013-12-06 | Device for force feedback on Minimally Invasive Surgery training system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310652242.4A CN103632594B (en) | 2013-12-06 | 2013-12-06 | Device for force feedback on Minimally Invasive Surgery training system |
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| CN103632594A true CN103632594A (en) | 2014-03-12 |
| CN103632594B CN103632594B (en) | 2016-01-13 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104361814A (en) * | 2014-11-28 | 2015-02-18 | 广东工业大学 | Knee arthroscopic surgery training device with force feedback |
| CN104537938A (en) * | 2014-12-21 | 2015-04-22 | 合肥德铭电子有限公司 | Endoscope simulative training system capable of achieving flexible force feedback |
| CN104916212A (en) * | 2015-06-26 | 2015-09-16 | 中国科学院合肥物质科学研究院 | Endoscope simulation device and application of endoscope simulation device in minimally invasive surgery training system |
| CN111839740A (en) * | 2020-07-07 | 2020-10-30 | 天津大学 | Master-slave isomorphic teleoperation force feedback master hand of minimally invasive surgery robot |
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Effective date of registration: 20180601 Address after: 230001 Anhui Hefei high tech Zone Innovation Industrial Park two phase E3 building B block 9 floor. Patentee after: Hefei D.E. Electronics Co., Ltd. Address before: 230088 room 219, min Chuang center, 605 Mount Huangshan Road, hi tech Zone, Hefei, Anhui. Patentee before: Wang Hong |