CN103632594B - Force feedback means for minimally invasive surgical training systems - Google Patents

Force feedback means for minimally invasive surgical training systems Download PDF

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Publication number
CN103632594B
CN103632594B CN 201310652242 CN201310652242A CN103632594B CN 103632594 B CN103632594 B CN 103632594B CN 201310652242 CN201310652242 CN 201310652242 CN 201310652242 A CN201310652242 A CN 201310652242A CN 103632594 B CN103632594 B CN 103632594B
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CN 201310652242
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Chinese (zh)
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CN103632594A (en )
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王洪
傅松青
杜鹏宇
李景波
马骙
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王洪
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Abstract

本发明涉及医疗器械设计领域,特别涉及一种用于微创手术训练系统上的力反馈装置,包括手柄以及支撑手柄前后、上下、左右运动的支架,手柄与支架间设置有位移传感器、力反馈单元,所述的位移传感器用于采集手柄的位置信息并输出至处理单元,力反馈单元接收处理单元输出的控制信号并通过钢丝给手柄施加一个反馈力,力反馈单元施加给手柄的反馈力的方向与手柄发生触碰前的运动方向相反。 The present invention relates to a medical device design, particularly relates to a displacement sensor, one kind of force feedback on the force feedback device for minimally invasive surgical training systems, the front and rear handle comprising a handle and a support, upper and lower, left and right movement of the bracket, the bracket is provided with a handle unit, a displacement sensor for collecting information of the position of the handle and outputs to the processing unit, the force feedback unit receiving the control signal processing unit outputs and applies a feedback force to the handle by a wire, a force is applied to the feedback force feedback unit of the handle a direction opposite to the direction of movement of the handle before the occurrence of the touch. 这里通过力反馈单元进行力的反馈,包括了前、后、左、右、上、下六个方向,且使用钢丝进行力的传递,其力的反馈效果更接近真实的触碰手感,当实习医生通过使用本力反馈装置构成的微创手术训练系统进行训练,其训练效果更佳。 Here the force by the force feedback means for feeding, including front, rear, left, right, upper, lower six directions, and use a wire transmission of a force, the force feedback effect which is closer to the real touch feel, intern doctors trained by use of minimally invasive surgical training systems present a force feedback device configuration, its better training effect.

Description

用于微创手术训练系统上的力反馈装置 Force feedback means for minimally invasive surgical training systems

技术领域 FIELD

[0001] 本发明涉及医疗器械设计领域,特别涉及一种用于微创手术训练系统上的力反馈 [0001] The present invention relates to the field of medical device design, and more particularly to a force feedback on the system for minimally invasive surgical training

目.ο Head .ο

背景技术 Background technique

[0002] 内镜微创手术实习医生以及基层医院医生,非常有必要到具有卫生部内镜考评委认定的培训资格的内镜培训基地进行培训,对内镜微创外壳器械的培养,从拿起内镜那一亥IJ,直至最后操作结束,一步一步规范化,这些程序式的规范操作看似基础,其实极为必要,如果不规范操作的习惯持续多年,不但影响医疗器械质量,对医生自身知识技能掌握新的医疗器械的培养也有害无益。 [0002] endoscopic surgery interns and primary hospital doctors, training is necessary to have endoscopic training base training for the Ministry of Health endoscopic examination identified the judges, training of minimally invasive endoscopic instrument shell, take from since that endoscopic Hai IJ, until the end of last operation, step by step standardization, these type of standard operation procedures may seem basic, in fact, very necessary, if you do not regulate the operation of habit for years, not only affect the quality of medical equipment, doctor's own knowledge develop new skills to master medical devices also harm than good.

[0003]目前使用的微创手术训练系统,主要是从国外进口的,国外的训练系统价格上不仅昂贵,其力反馈系统主要通过电机、齿轮等方式实现的,不够逼真。 [0003] minimally invasive surgical training systems currently in use, mostly imported from abroad, the price of foreign training system is not only expensive, it is mainly through the motor force feedback system, gears, etc. to achieve, is not realistic. 在训练时,实习医生或基层医院医生操作手术器械时,手术器械前端与虚拟器官发生触碰,器官会反馈给手术器械一个作用力,现有的这些装置在提供这个反馈力时,比较生硬,与实际手术操作时触碰到器官所反馈的力不相符合,给医生所提供的手感不佳。 During training, when the primary hospital interns or doctors to operate surgical instruments, surgical instruments and front-end virtual organogenesis touch, the organ will be a force feedback to surgical instruments, these existing devices in providing this feedback force, relatively stiff, touch operation and the actual operation to force organ do not conform to the feedback, provided by the doctor to feel bad. 有些医生即使使用这套系统进行训练,并规范化各种操作,但当其实际操作时,由于手感的差别,依然存在风险。 Some doctors even use the system for training and standardization of various operations, but its actual operation, due to the difference in feel, there is still risk.

发明内容 SUMMARY

[0004] 本发明的目的在于提供一种用于微创手术训练系统上的力反馈装置,能够充分模拟手术器械与器官接触所产生的反馈力。 [0004] The object of the present invention is to provide a force feedback system of the minimally invasive surgical training apparatus, analog feedback force can be sufficiently in contact with the organ surgical instrument produced.

[0005] 为实现以上目的,本发明采用的技术方案为:一种用于微创手术训练系统上的力反馈装置,包括手柄以及支撑手柄前后、上下、左右运动的支架,手柄与支架间设置有位移传感器、力反馈单元,所述的位移传感器用于采集手柄的位置信息并输出至处理单元,力反馈单元接收处理单元输出的控制信号并通过钢丝给手柄施加一个反馈力,力反馈单元施加给手柄的反馈力的方向与手柄发生触碰前的运动方向相反。 [0005] To achieve the above object, the technical solution of the present invention is used are: one kind of force feedback device for minimally invasive surgical training systems, the front and rear handle comprising a handle and a support, upper and lower, left and right movement of the bracket, the bracket is provided with a handle with a displacement sensor, a force feedback unit, a displacement sensor for collecting information of the position of the handle, and outputs to the processing unit, the force feedback unit receiving the control signal processing unit outputs and applies a feedback force to the handle by a wire, a force is applied to the feedback means feedback force to the handle in the direction opposite to the direction of movement of the handle before the occurrence of the touch.

[0006]与现有技术相比,本发明存在以下技术效果:这里通过力反馈单元进行力的反馈,包括了前、后、左、右、上、下六个方向,且使用钢丝进行力的传递,其力的反馈效果更接近真实的触碰手感,当实习医生通过使用本力反馈装置构成的微创手术训练系统进行训练,其训练效果更佳。 [0006] Compared with the prior art, the present invention is the presence of the following technical effects: here the force feedback force feedback means comprises front, back, left, right, upper, lower six directions, and using the force of the wire transmitting, force feedback effect which is closer to the real feel of touch, when the train interns by using the force of minimally invasive surgical apparatus configured feedback training system, which better training effect.

附图说明 BRIEF DESCRIPTION

[0007] 图1是本发明的立体结构图; [0007] FIG. 1 is a perspective structural view of the present invention;

[0008] 图2是本发明另一个视角的立体结构图,其中钢丝未示出; [0008] FIG. 2 is a perspective view of another three-dimensional structure of the present invention, wherein the wire is not shown;

[0009] 图3是本发明的侧视图,其中不包含手柄; [0009] FIG. 3 is a side view of the present invention, which does not include a handle;

[0010] 图4是翻转支架与手柄配合示意图; [0010] FIG. 4 is a schematic inverted mating with the handle holder;

[0011] 图5是翻转支架半剖示意图; [0011] FIG. 5 is a cross-sectional schematic half reversing bracket;

[0012] 图6是底座的结构示意图。 [0012] FIG. 6 is a schematic view of the base.

具体实施方式 detailed description

[0013] 下面结合图1至图6,对本发明做进一步详细叙述。 [0013] below with reference to Figures 1 to 6, further detailed description of the present invention.

[0014] 一种用于微创手术训练系统上的力反馈装置,包括手柄40以及支撑手柄40前后、上下、左右运动的支架,手柄40与支架间设置有位移传感器、力反馈单元,所述的位移传感器用于采集手柄40的位置信息并输出至处理单元,力反馈单元接收处理单元输出的控制信号并通过钢丝给手柄40施加一个反馈力,力反馈单元施加给手柄40的反馈力的方向与手柄40发生触碰前的运动方向相反,手柄40发生触碰前的运动方向是指沿该方向运动时即将于体内器官发生触碰现象。 [0014] A force feedback system of the minimally invasive surgical training apparatus, comprising a handle 40 and a front support lever 40 is provided with a displacement sensor, a force feedback unit between the upper and lower, left and right movement of the bracket, and the bracket handle 40, the direction displacement sensor for collecting information of the position of the handle 40 and outputs to the processing unit, the force feedback control unit receives a signal processing unit outputs and applies a feedback force to the handle 40 by a wire, a force is applied to the feedback force feedback unit 40 of the handle handle 40 opposite to the direction of movement before the occurrence of the touch, the direction of movement of the handle 40 occurs before the upcoming touch means a touch phenomenon occurring when body organs along the movement direction. 支架要保证手柄40在六个方向自由运动,当训练人员操作手柄40时,手柄40的位置信息通过位移传感器采集并输出到处理单元中,处理单元判断手柄40是否与虚拟的人体器官发生碰撞,如果发生碰撞,则输出控制信号控制给力反馈单元,力反馈单元给手柄40 —个相反方向的力,由于力反馈单元与手柄40之间通过钢丝传递反馈力,该反馈力不致太过生硬,更接近真实的触碰反馈手感,提升训练效果。 Holder handle 40 to ensure free movement in six directions, when the operating handle 40 is trained personnel, the position information acquisition handle 40 and output to the processing unit through a displacement sensor, the processing unit 40 determines whether a collision with the virtual handle body organogenesis, If a collision occurs, the output control signal to a force feedback unit, to handle the force feedback unit 40 - of a force in the opposite direction, the force feedback unit 40 is transmitted between the handle and the feedback force through the wire, the feedback force would not be too stiff, more realistic touch feedback feel, enhance the training effect. 同时,该结构很简单,容易实现,仅从硬件上作出稍许改进就能实现。 At the same time, the structure is simple, easy to implement, making slight improvements can be achieved only on the hardware.

[0015] 参阅图1、图2、图3,为了实现手柄40的六个方向自由运动,可以采用万向节等手段来实现,作为本发明的优选方案,所述的支架包括底座10、回转支架20、翻转支架30,所述的回转支架20通过第一转轴固定在底座10上,回转支架20绕第一转轴在水平面内转动,所述的翻转支架30通过第二转轴31固定在回转支架20上,翻转支架30绕第二转轴31在垂直平面内转动,手柄40包括导杆41,所述的导杆41与翻转支架30内设置的滑轨32构成沿杆长方向的滑移配合,杆长方向垂直于第二转轴31。 [0015] Referring to FIG 1, FIG 2, FIG 3, six directions in order to achieve free movement of the handle 40, universal joints and other means can be employed to achieve, as a preferred embodiment of the present invention, the stent comprises a base 10, the rotary bracket 20, reversing bracket 30, the swivel bracket 20 fixed to the base 10 by a first shaft, a first swivel bracket 20 about the axis of rotation in a horizontal plane, said second shaft by a reversing bracket 30 is fixed to the rotary bracket 31 20, the bracket 30 about a second inverted shaft 31 is rotated in a vertical plane, the handle 40 includes a guide rod 41, the guide bar 41 and the rail 32 provided in the reversing bracket 30 along the rod length direction constituting slip fit, rod length direction perpendicular to the second shaft 31. 底座10与回转支架20的配合实现手柄40在水平范围内的动作,回转支架20与翻转支架30的配合实现手柄在垂直范围内的动作,导杆41与滑轨32的配合实现手柄沿导杆41长度方向的动作,各方向动作之间互不干涉,操作起来非常的灵活;同时,这样设置更利于力反馈单元的设置:所述的力反馈单元包括底座10与回转支架20之间设置的第一反馈单元、回转支架20与翻转支架30之间设置的第二反馈单元、翻转支架30与导杆41之间设置的第三反馈单元。 40 the base 10 to achieve operation within the level of the handle with the mating swivel bracket 20, the bracket 20 with the swivel bracket 30 and the reverse operation is achieved within the vertical range of the handle, the guide rods 41 and rails 32 with the handle along the guide rod to achieve action 41 in the longitudinal direction, the direction of mutual non-interference between the operation, the operation is very flexible; the same time, so setting more conducive to force feedback means: the force feedback unit 20 comprises a base 10 and disposed between the swivel bracket a first feedback means, the second feedback unit is disposed between the swivel bracket 20 and the reversing bracket 30, the reversing bracket 30 and the third guide means disposed between the feedback lever 41. 下面结合本实施例对第一、二、三反馈单元的结构做出详细描述: In conjunction with the following description made in detail to the present embodiments of the structure of the first, second and third feedback means:

[0016] 所述的第一反馈单元包括设置在底座10上的第一电机11、与回转支架20相连的第一转盘12,第一电机11与第一转盘12的轴芯平行布置,如图6所示,处理单元输出控制信号控制第一电机11正转/反转/停止,第一电机11通过第一钢丝13驱动第一转盘12转动,所述的回转支架20包括U型架21、固定架22,U型架21的底部固定在第一转盘12回转中心处的芯轴121上,该芯轴121构成所述的第一转轴。 First motor 11, a first turntable 12, a first motor connected to the swivel bracket 20 is disposed in parallel [0016] The first feedback unit comprises a base 10 disposed on the spool core 11 of the first turntable 12, as shown in 6, the processing unit outputs the first control signal the motor 11 forward / reverse / stop, the first motor 11 rotates the first rotary disc 12 is driven by a first wire 13, the swivel bracket 20 includes a U-shaped frame 21, holder 22, the bottom of the U-shaped frame 21 is fixed to the center of rotation of the mandrel 12 112 at the first turntable, the mandrel constituting said first rotary shaft 121. 将U型架21直接固定在第一转盘12上,第一转盘12转动时,即带动U型架21转动。 The U-shaped frame 21 is directly fixed to the first turntable 12, the first turntable 12 rotates, i.e., a U-shaped frame 21 driven in rotation.

[0017] 所述的U型架21上部呈收口状并朝上设置有翻边,翻边上开设有通孔用于布置所述的第二转轴31,固定架22固定在U型架21的底部;所述的第二反馈单元包括设置在固定架22上的第二电机221、第二转盘222,第二电机221、第二转盘222以及第二转轴31的轴芯平行布置,处理单元还输出控制信号控制第二电机221正转/反转/停止,第二电机221通过第二钢丝223驱动第二转盘222转动,第二转盘222通过曲柄连杆机构驱动翻转支架30绕第二转轴31摆动,所述的曲柄连杆机构包括相互铰接的曲柄224、连杆225,曲柄224与第二转盘222相连,连杆225的杆端与翻转支架30的底部铰接。 [0017] The U-shaped frame 21 and an upper cuff was disposed upwardly flanging, the flange defines a through hole for disposing the second shaft 31, the U-shaped bracket 22 fixed to the frame 21 a bottom; the second feedback means comprises a second motor 221 disposed on the holder 22, the second turntable 222, the second motor shaft core 221, the second turntable 222 and a second shaft 31 arranged in parallel, the processing unit further the motor control signal output 221 of the second forward / reverse / stop, the second motor 221 rotates the second wire 223 by driving the second turntable 222, the turntable 222 through a second crank drive reversing bracket 30 about the second drive shaft 31 swing link means includes a crank hinged to each other crank 224, connecting rod 225, crank 224 is connected with the second turntable 222, the link 225 and the rod end of the reversing bracket 30 hinged bottom. 这样设置以后,第二转盘222转动时,就能带动翻转支架30绕第二转轴31摆动。 After this set, the second wheel 222 is rotated, can be driven by a second flip bracket 30 swings about the shaft 31.

[0018] 所述的第三反馈单元包括设置在翻转支架30上的第三电机33、第三转盘34以及第四转盘35,第三电机33、第三转盘34以及第二转轴31的轴芯平行布置,处理单元还输出控制信号控制第三电机33正转/反转/停止,第三电机33通过第三钢丝36驱动第三转盘34转动,第三、四转盘34、35同轴转动,导杆41和第四转盘35间通过第四钢丝37传递驱动力。 [0018] said third feedback means comprises a third motor 33, the third 34 and the fourth rotary dial 35 is provided on the reversing bracket 30, a third motor shaft core 33, a third wheel 34 and the second shaft 31 arranged in parallel, the processing unit further outputs a control signal to control the third motor 33 is forward / reverse / stop, a third motor 33 drives the rotation of the third wheel 34 through the third wire 36, the third and fourth turntable 34 and 35 rotate coaxially, a fourth guide bar 41 and the turntable 35 through a fourth wire 37 for transmitting the driving force.

[0019] 对于上述所述及的电机通过钢丝驱动转盘转动可以有多种实施方式,这里提供一种较为优选的,同时也是非常简单的结构:所述的第一钢丝13环绕第一电机11的轴身若干圈后顺延至第一转盘12处并环绕第一转盘12的外周若干圈再继续顺延至第一电机11的轴身处构成闭环状;所述的第二、三钢丝223、36同为闭环状布置,其布置的方式与第一钢丝13 —致,这里就不再赘述了。 [0019] For the above, and the motor driving the turntable is rotated by a wire may have various embodiments, there is provided a more preferable structure is also very simple: the first wire 13 surrounded by a first motor 11 after several turns the axle body extended to the first turntable 12 and the turntable 12 around the periphery of the first number of turns be extended to continue living in the first motor shaft 11 constituting the closed loop; the second, the same three wire 223,36 a closed loop-like arrangement, which arrangement of the first embodiment wire 13-- actuator, not repeat them here.

[0020] 参阅图4、图5,由于回转支架20、翻转支架30本身就是转动的,其实现起来较为容易,但是第三反馈单元需要提供与导杆41方向一致的反馈力,而不是转动的反馈力,其实现起来稍微复杂点,本实施例给出一种较为容易实现的方案供参考:所述的第二转轴31位于翻转支架30的中部,滑轨32位于第二转轴31的上方,翻转支架30上位于滑轨32的两端分别设置有前、后滑轮38、39,这里说的前滑轮38即靠近导杆前端的滑轮。 [0020] Referring to FIG. 4, FIG. 5, since the swivel bracket 20, the bracket 30 itself is inverted rotated, which is easier to implement, but the third feedback unit need to provide a consistent force feedback direction guide rod 41, instead of rotating the feedback force, which is slightly more complex to implement, presents a solution according to the present embodiment is more readily achieved by reference: the second shaft 31 is located in the middle of flip bracket 30, a second slide rail 32 is positioned above the shaft 31, rails 32 positioned on both ends of the reversing bracket 30 are respectively provided with front and rear pulleys 38 and 39, where said front pulley sheave 38 that is close to the front end of the guide bar. 第四转盘35位于第二转轴31的下方,第四钢丝37的一端固定在导杆41的前端,并依次经过前滑轮38、第四转盘35、后滑轮39固定在导杆41的后端,位于前滑轮38与导杆41前端之间的第四钢丝37以及位于后滑轮39与导杆41后端之间的第四钢丝37顺延导杆41的杆身布置;位于前滑轮38与第四转盘35之间的第四钢丝37与位于后滑轮39与第四转盘35之间的第四钢丝37呈交叉状布置。 The fourth wheel 35 is located below the second shaft 31, the end of the fourth wire 37 is fixed to the front end of the guide bar 41, and sequentially passes through the front pulley 38, a fourth wheel 35, a pulley 39 is fixed to the rear end of the guide rod 41, the front guide bar 38 and the fourth pulley 37 and the rear wire is located between the fourth wire pulley 39 and the rear end of the guide rods 41 between the front end 37 the guide bar 41 extended shaft 41 are arranged; the front pulley 38 and the fourth the fourth wire 37 between the pulley 35 and the rotary dial to the fourth form of the fourth wire 37 between the rear 35 39 interdigitated arrangement. 经过前滑轮38与第四转盘35之间的第四钢丝37以及经过后滑轮39与第四转盘35之间的第四钢丝37还经过第二转轴31。 After the first pulley 38 and the fourth wheel of the fourth wire 37 between the pulleys 35 and 39 after the wire between the fourth and the fourth wheel 37 further 35 through the second shaft 31.

[0021] 作为本发明的优选方案:所述的第一钢丝13环绕在第一电机11轴身的圈数为三圈,第一钢丝13环绕在第一转盘12外周的圈数为三圈;所述的第二、三钢丝223、36与第一钢丝13的环绕圈数相一致,也是环绕三圈;所述的第四钢丝37环绕第四转盘35的圈数为两圈。 [0021] As a preferred embodiment of the present invention: said first number of turns of wire around the body 13 of the first motor shaft 11 three times, the first wire 13 turns around the outer periphery of the first rotary disc 12 is three times; said second and third wire 223,36 consistent with the number of wires around the first ring 13, is surrounded by three times; said fourth number of turns around the wire 37 of the fourth wheel 35 is twice. 圈数的多少影响力的传递效果、反馈力的逼真程度,具体需要根据实际的操作效果来进行选择。 Degree of realism transfer effect, force feedback influence how much the number of turns, to be selected according to the specific needs of the actual operation results. 本申请中,通过钢丝传动主要是为了更真实的模拟手柄40与器官发生触碰的非刚性接触,手柄40所受到的反馈力大小则由各个电机的转速大小来控制。 In the present application, mainly for the transmission by wire more realistic simulation of a non-rigid handle 40 in touching contact with organogenesis, handle 40 is subjected by the size of the force feedback motor speed to control the size of each.

Claims (6)

  1. 1.一种用于微创手术训练系统上的力反馈装置,其特征在于:包括手柄(40)以及支撑手柄(40)前后、上下、左右运动的支架,手柄(40)与支架间设置有位移传感器、力反馈单元,所述的位移传感器用于采集手柄(40)的位置信息并输出至处理单元,力反馈单元接收处理单元输出的控制信号并通过钢丝给手柄(40)施加一个反馈力,力反馈单元施加给手柄(40)的反馈力的方向与手柄(40)发生触碰前的运动方向相反; 所述的支架包括底座(10)、回转支架(20)、翻转支架(30),所述的回转支架(20)通过第一转轴固定在底座(10)上,回转支架(20)绕第一转轴在水平面内转动,所述的翻转支架(30)通过第二转轴(31)固定在回转支架(20)上,翻转支架(30)绕第二转轴(31)在垂直平面内转动,手柄(40)包括导杆(41),所述的导杆(41)与翻转支架(30)内设置的滑轨(32)构成沿杆长方向的滑移配合,杆长方 A force feedback device for minimally invasive surgical training systems, characterized by: a handle (40) and support lever (40) back and forth, up and down, left and right movement of the holder, a handle (40) is provided between the supports and displacement sensors, force feedback unit, a displacement sensor for collecting information of the position of the handle (40) and outputs to the processing unit, the control unit outputs a force feedback signal reception processing unit by a wire and is applied to the handle (40) a force feedback direction with the handle, force feedback is applied to the handle unit (40) a force feedback (40) occurs before the touch movement in the opposite direction; said holder includes a base (10), the swivel mount (20), reversing bracket (30) said swivel bracket (20) by a first rotary shaft fixed to the base (10), the swivel mount (20) about a first axis of rotation in a horizontal plane, the reversing bracket (30) by a second shaft (31) fixed to the rotary bracket (20), reversing bracket (30) is rotated in a vertical plane about a second shaft (31), the handle (40) comprises a guide rod (41), said guide rod (41) and the reversing bracket ( slip fitting rail (32) disposed) along the rod 30 constituting the length direction of the rectangular rod 垂直于第二转轴(31); 所述的力反馈单元包括底座(10)与回转支架(20)之间设置的第一反馈单元、回转支架(20)与翻转支架(30)之间设置的第二反馈单元、翻转支架(30)与导杆(41)之间设置的第三反馈单元; 所述的第一反馈单元包括设置在底座(10)上的第一电机(11)、与回转支架(20)相连的第一转盘(12),第一电机(11)与第一转盘(12)的轴芯平行布置,处理单元输出控制信号控制第一电机(11)正转/反转/停止,第一电机(11)通过第一钢丝(13)驱动第一转盘(12)转动,所述的回转支架(20)包括U型架(21)、固定架(22),U型架(21)的底部固定在第一转盘(12)回转中心处的芯轴(121)上,该芯轴(121)构成所述的第一转轴。 Perpendicular to the second axis (31); and said force feedback means comprises a base (10) and a first feedback unit is provided between the swivel bracket (20), the swivel bracket (20) between the reversing bracket (30) provided in second feedback means, the feedback means disposed between the third reversing bracket (30) and guide rod (41); a first motor comprising said first feedback unit is provided on the base (10) (11), and rotation a first turntable (12), a first motor (11) with a first turntable (12) is arranged parallel to the axis of the core, the processing unit outputs the first control signal the motor (11) connected to the holder (20) forward / reverse / stop (11) driving a first rotatable dial (12) a first motor via a first wire (13), said pivot holder (20) includes a U-shaped frame (21), holder (22 is), the U-shaped frame ( bottom 21) is fixed to a first rotary spindle (12) at the center of rotation (121), the mandrel (121) constituting said first shaft.
  2. 2.如权利要求1所述的用于微创手术训练系统上的力反馈装置,其特征在于:所述的U型架(21)上部呈收口状并朝上设置有翻边,翻边上开设有通孔用于布置所述的第二转轴(31),固定架(22)固定在U型架(21)的底部;所述的第二反馈单元包括设置在固定架(22)上的第二电机(221)、第二转盘(222),第二电机(221)、第二转盘(222)以及第二转轴(31)的轴芯平行布置,处理单元还输出控制信号控制第二电机(221)正转/反转/停止,第二电机(221)通过第二钢丝(223)驱动第二转盘(222)转动,第二转盘(222)通过曲柄连杆机构驱动翻转支架(30)绕第二转轴(31)摆动,所述的曲柄连杆机构包括相互铰接的曲柄(224)、连杆(225),曲柄(224)与第二转盘(222)相连,连杆(225)的杆端与翻转支架(30)的底部铰接。 As claimed in claim 2. The force feedback device for minimally invasive surgical training system of claim 1, wherein: an upper portion of the U-shape frame (21) and the shut-shaped upwardly provided with a flange, burring It defines a through hole for said second rotary shaft arrangement (31), mounting bracket (22) fixed to the bottom of the U-shaped frame (21); said second feedback means includes a fixed frame disposed on (22) a second motor (221), a second carousel (222), a second motor (221), a second wheel (222) and a second shaft (31) arranged parallel to the axis of the core, the processing unit further outputs a control signal to control the second motor (221) forward / reverse / stop, rotation of the second drive wheel (222) a second motor (221) by a second wire (223), a second wheel (222) driven by a crank and connecting rod mechanism reversing bracket (30) about a second shaft (31) oscillating said crank mechanism comprises a crank link (224) hinged to each other, connecting rod (225), crank (224) and a second carousel (222) is connected to the connecting rod (225) reversing bracket rod end (30) of the bottom hinge.
  3. 3.如权利要求2所述的用于微创手术训练系统上的力反馈装置,其特征在于:所述的第三反馈单元包括设置在翻转支架(30)上的第三电机(33)、第三转盘(34)以及第四转盘(35),第三电机(33)、第三转盘(34)以及第二转轴(31)的轴芯平行布置,处理单元还输出控制信号控制第三电机(33)正转/反转/停止,第三电机(33)通过第三钢丝(36)驱动第三转盘(34)转动,第三、四转盘(34、35)同轴转动,导杆(41)和第四转盘(35)间通过第四钢丝(37)传递驱动力。 Claim force minimally invasive surgical training system for the second feedback means, wherein: said third feedback means comprises a third motor (33) reversing bracket (30), a third wheel (34) and the fourth wheel (35), a third motor (33), a third carousel (34) and a second shaft (31) arranged parallel to the axis of the core, the processing unit further outputs a control signal to control the third motor (33) forward / reverse / stop, a third motor (33) drive (34) by rotation of the third wheel of the third wire (36), third and fourth wheel (34, 35) rotatable coaxially with the guide rod ( driving force is transmitted through the fourth wire (37) between 41) and a fourth wheel (35).
  4. 4.如权利要求3所述的用于微创手术训练系统上的力反馈装置,其特征在于:所述的第一钢丝(13)环绕第一电机(11)的轴身若干圈后顺延至第一转盘(12)处并环绕第一转盘(12)的外周若干圈再继续顺延至第一电机(11)的轴身处构成闭环状;所述的第二、三钢丝(223、36)同为闭环状布置。 As claimed force minimally invasive surgical training systems for the feedback means in claim 3, wherein: the axle body after several turns of the first wire (13) surrounding the first motor (11) is postponed to at the first turntable (12) and surrounds a first turntable (12) of several turns extended to the outer periphery of the first motor to continue (11) form a closed loop-shaped living axis; said second and third wire (223,36) with closed loop-like arrangement.
  5. 5.如权利要求3所述的用于微创手术训练系统上的力反馈装置,其特征在于:所述的第二转轴(31)位于翻转支架(30)的中部,滑轨(32)位于第二转轴(31)的上方,翻转支架(30)上位于滑轨(32)的两端分别设置有前、后滑轮(38、39),第四转盘(35)位于第二转轴(31)的下方,第四钢丝(37)的一端固定在导杆(41)的前端,并依次经过前滑轮(38)、第四转盘(35)、后滑轮(39)固定在导杆(41)的后端,位于前滑轮(38)与导杆(41)前端之间的第四钢丝(37)以及位于后滑轮(39)与导杆(41)后端之间的第四钢丝(37)顺延导杆(41)的杆身布置,位于前滑轮(38)与第四转盘(35)之间的第四钢丝(37)与位于后滑轮(39)与第四转盘(35)之间的第四钢丝(37)呈交叉状布置。 As claimed in claim force minimally invasive surgical training systems for the feedback means 3, wherein: said second shaft (31) located reversing bracket (30) of the middle rail (32) located above the second shaft (31), both ends of the rails (32) of the reversing bracket (30) are provided on front and rear pulleys (38, 39), a fourth wheel (35) located in a second rotary shaft (31) lower, end of the fourth wire (37) is fixed to the front end of the guide rod (41), and sequentially passes through the front pulley (38), a fourth wheel (35), the pulley (39) fixed on the guide rods (41) the rear end, the front pulley (38) and guide rod (41) between the front end of the fourth wire (37) and located on the rear pulley (39) and guide rod (41) between the rear end of the fourth wire (37) postponed guide rods (41) arranged in a shaft, the first between the front pulley (38) and the fourth wheel of the fourth wire (37) between (35) located rear pulley (39) and the fourth wheel (35) four wires (37) are arranged in a cross shape.
  6. 6.如权利要求5所述的用于微创手术训练系统上的力反馈装置,其特征在于:所述的第一钢丝(13)环绕在第一电机(11)轴身的圈数为三圈,第一钢丝(13)环绕在第一转盘(12)外周的圈数为三圈;所述的第二、三钢丝(223、36)与第一钢丝(13)的环绕圈数相一致;所述的第四钢丝(37)环绕第四转盘(35)的圈数为两圈。 As claimed in claim 6. The force feedback device for minimally invasive surgical training system of claim 5, wherein: said first wire (13) around the number (11) of the axle body turns of the first motor is a three ring, a first wire (13) surrounds the turns (12) to the outer periphery of the first turntable three times; the second and third wire (223,36) and the first wire (13) surrounding consistent number of turns ; said fourth wire (37) surrounds the fourth wheel (35) is twice the number of turns.
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