CN105989769B - A kind of minimally invasive spine surgical simulation force feedback surgery training device and method - Google Patents

A kind of minimally invasive spine surgical simulation force feedback surgery training device and method Download PDF

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Publication number
CN105989769B
CN105989769B CN201510054652.8A CN201510054652A CN105989769B CN 105989769 B CN105989769 B CN 105989769B CN 201510054652 A CN201510054652 A CN 201510054652A CN 105989769 B CN105989769 B CN 105989769B
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China
Prior art keywords
feedback
guide rail
bone
force
lead screw
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CN201510054652.8A
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Chinese (zh)
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CN105989769A (en
Inventor
韩建达
宋国立
贾鸿
赵忆文
姜运祥
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中国科学院沈阳自动化研究所
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Abstract

The present invention relates to a kind of minimally invasive spine surgicals to simulate force feedback surgery training device and method, and portion of the handle is connected in turn by handle, six-dimension force sensor and sensor convergence piece;Drive part includes support plate, direct current generator, meshing gear, lead screw and guide rail, wherein guide rail one end connects the sensor convergence piece, lead screw is affixed on the outside of guide rail by support plate and is placed in parallel, direct current generator is engaged togather by meshing gear and lead screw, and direct current generator, lead screw and guide rail are fixed on close to sensor convergence piece side by support plate;Bit part includes linear slide part and bone drill bit, and bone drill bit is connect by linear slide part with the guide rail.The present invention uses closed-loop control, guarantees the accurate of force feedback numerical value;Cadaver sample cost and corresponding systems consuming are saved, training method is convenient, and can be shortened the culture time limit;Rapid assembly or disassembly can reduce the process of disinfection in this way and reduce the surgical simulation time.

Description

A kind of minimally invasive spine surgical simulation force feedback surgery training device and method

Technical field

The present invention relates to the invention belongs to minimally invasive spine surgical field, specifically a kind of minimally invasive spine surgical analog forces Feed back surgery training device and method.

Background technique

Spinal disease is common clinical disease, specifically includes that disc herniation (bulging) disease, osteoproliferation, spinal canal are narrow Narrow disease etc..Spinal disease is not only causing pain physiologically to patient, and biggish stress can be also caused to patient.Backbone As the support of human body, closely it is connect with systems such as the nerve of human body, breathing and circulations.The further development of spinal disease may It will lead to other complication such as enterospasm, urination disorder and constipation.So treatment spinal lesion has to patients ' life quality is improved Important role.

With the development of Medical Imaging System such as digital imagery, high-resolution endoscope system etc., operative surgery starts to walk To the minimal invasive techniques epoch.Micro-wound surgical operation is a kind of modus operandi for reaching operation purpose by small notch.It is advantageous that: Wound is small, pain is light, recovery is fast etc..The development of Minimally Invasive Surgery surgery, so that minimally invasive spine surgical becomes spinal surgery development Trend.For most spinal lesions, the implantation of pedicle screw is an indispensable process.

During surgery, the range request operative doctor of crossing for being implanted into pedicle screw has certain experience.For intern With young doctor, how to obtain surgical experience abundant becomes a urgent problem to be solved.Research for medical college Raw, culture is limited to 3-5 in year, wherein being within previous to 2 years the Preparatory work of experiment time.5 years postgraduates have been cultivated for one For, average clinical practice operation about 1000 or so, and its main work is that occur in the form of assistant. Therefore, how to make intern and the postgraduate of medical college complete operation to be one to obtaining surgical experience urgently to be resolved to ask Topic.

Summary of the invention

In view of the deficiencies of the prior art, the present invention provides a kind of minimally invasive spine surgical simulation device for force feedback and vertebral column minimally invasive It is anti-to obtain corresponding power accurate on true backbone using spine model for surgical simulation force feedback surgery training method Feedback, to save cadaver sample cost and corresponding systems consuming, training method is convenient, and can be shortened the culture time limit.

Present invention technical solution used for the above purpose is:

A kind of minimally invasive spine surgical simulation force feedback surgery training device, including sequentially connected portion of the handle, driving portion Point and bit part;

The portion of the handle is connected to one in turn by handle 303, six-dimension force sensor 302 and sensor connecting piece 301 It rises;

The drive part includes support plate 201, direct current generator 202, meshing gear 203, lead screw 204 and guide rail 205, Wherein 205 one end of guide rail connects the sensor connecting piece 301, and lead screw 204 is affixed on 205 outside of guide rail by support plate and puts in parallel It sets, direct current generator 202 is engaged togather by meshing gear 203 with lead screw 204, and support plate 201 is by direct current generator 202, lead screw 204 and guide rail 205 be fixed on close to 301 side of sensor connecting piece;The other end passes through support plate for lead screw 204 and guide rail 205 connections;

The bit part includes linear slide part 101 and bone drill bit 102, and bone drill bit 102 passes through linear slide part 101 connect with the guide rail 205.

The linear slide part 101 connects bone drill bit 102, the straight line of cooperation control bone drill bit 102 by dovetail groove Feeding.

The handle 303, guide rail 205 and bone drill bit 102 keep coaxial.

A kind of minimally invasive spine surgical simulation force feedback surgery training method, intern hold handle 303 in modeling bone model On carry out brill bone;

During boring bone, feedback force value that the detection modeling bone drill os in os drill bit 102 of six-dimension force sensor 302 obtains and true The feedback force value that real human spine bores bone is compared;

According to resulting fiducial value, direct current generator 202 is under torque mode according to calculated torque value output torque;

Direct current generator 202 drives lead screw 204 that bone drill bit 102 is driven to pass in and out guide rail by meshing gear 203, pierces or moves back Diaphysis model out carries out Real-time force feedback, finally makes actual feedback force value equal with the real human body backbone brill feedback force value of bone.

When actual forces value of feedback bores 3 times of feedback force value or more of bone beyond real human body backbone or actually occurs feedback force value Mutation, then be currently at risk status, stops boring bone operation in time.

The torque of the direct current generator 202 and the relationship of feedback force value are as follows:

Wherein D is middle diameter of metric trapezoidal screw;α is trapezoidal thread lift angle;F is feedback force value, unit N;M is torque, unit For nNm;For two meshing gear number of teeth same mechanical efficiency etas of gear driveToothIt is 0.97, the transmission efficiency η of screw pairSilk It is 0.4.

The invention has the following beneficial effects and advantage:

1. the present invention uses closed-loop control, guarantee the accurate of force feedback numerical value.

2. the present invention saves cadaver sample cost and corresponding systems consuming, training method is convenient, and can be shortened culture The time limit.

3. the present invention can rapid assembly or disassembly, when can reduce the process of disinfection in this way and reduce surgical simulation Between.

Detailed description of the invention

Fig. 1 is structural schematic diagram of the invention;

Wherein 101 be linear slide part;102 be bone drill bit;201 be support plate;202 be direct current generator;203 be engagement Gear;204 be lead screw;205 be guide rail;301 be sensor connecting piece;302 be six-dimension force sensor;303 be handle.

Specific embodiment

The present invention is described in further detail with reference to the accompanying drawings and embodiments.

It is as shown in Figure 1 structural schematic diagram of the invention.

It includes handle 303, six-dimension force sensor 302, engaging tooth that minimally invasive spine surgical, which simulates force feedback surgery training device, Take turns 203, guide rail 205, sensor connecting piece 301, direct current generator 202, lead screw 204, linear slide part 101.

The portion of the handle includes handle 303, six-dimension force sensor 302 and sensor connecting piece 301.Six-dimensional force torque Sensor is linked together by handle 303 and sensor connecting piece 301.The six-dimension force sensor 302 and handle 303 and biography The successively vertical connection up and down of sensor connector 301.

The drive part includes support plate 201, direct current generator 202, meshing gear 203, lead screw 204 and guide rail 205. The lead screw 204 is fixed on guide rail 205 in 205 outside of guide rail, and the direct current generator 202 passes through meshing gear 203 and silk Thick stick 204 is engaged togather.Direct current generator 202, lead screw 204, guide rail 205 is by support plate 201 close to six-dimension force sensor one Side links together.Meshing gear 203 is that 202 end of direct current generator and the side of lead screw 204 are intermeshed.Lead screw 204 is another Side is connect by another support frame with the meshing gear in guide rail.

Bit part includes linear slide part 101 and bone drill bit 102.The two cooperates control bone drill bit by dovetail groove 102 straight-line feed.

In use, driving meshing gear 203 by direct current generator 202 according to different drill bits, to drive lead screw 204, drive The flexible guide rail out of dynamic bone drill bit, pierces diaphysis model, the rotating forward and counter-rotating of direct current generator 202 is utilized to control bone drill bit 102 feeding.Doctor holds handle 303 and carries out brill bone.The detection of six-dimension force sensor 302 is driven to obtain by bone drill bit 102 Force feedback numerical value, compared with boring the feedback force value of bone with real human body backbone, the feedback force difference F of acquisition passes through public affairs through single-chip microcontroller Formula:

Obtain 202 torque M of direct current generator.Direct current generator 202 works in torque mode, and approximately according to M output one A torque.According to the result of the comparison, direct current generator 202 executes the movement for increasing or reducing feedback force, until actual feedback Power is equal with given feedback force.Just achieve the effect that simulate force feedback, and simultaneously emerge power in the hand of doctor.Work as force feedback When numerical value will bore 3 times of feedback force value or more of bone beyond real human body backbone or feedback force value mutation occurs, doctor can be timely Stop boring bone operation, avoids the generation of risk.

Cooperated between bone drill bit 102 and linear slide part 101 using dovetail groove, it is ensured that bit change 102 is convenient and efficient.Six Dimensional force sensor 302 is used to detect the feedback force reversed along guide rail.Grip size presses accurate grasping tool design specification design, silk The rotary motion that thick stick pair of nut passes over gear drive is converted to linear motion.Two meshing gear number of teeth phases of gear drive It is tooth=0.97 gear η with mechanical efficiency, the transmission efficiency of screw pair is that η=0.4, then Motor torque M and straight line are sliding Moving part bores the relationship between the feedback force value difference value F of bone along the analog feedback power and real human body backbone of guide rail direction are as follows:

Wherein D is middle diameter of metric trapezoidal screw, and α is trapezoidal thread lift angle, and the unit of F is N, and the unit of M is nNm.

One important indicator of surgical instrument be exactly can rapid assembly or disassembly, the process of disinfection can be reduced in this way And reduce operating time.

Surgical instrument can be fixed on operating position by the spring key being mounted on lead screw 204.When needing opponent When art instrument carries out quick-replaceable process, the position for replacing surgical instrument can be leaked out after pressing spring key, and pass through Trapezoid groove structure realizes the surgical device including vertebral plate pincers, nerve hook, bone drill, spatula, bone file, osteotome and retractor etc. The quick change fast-assembling of tool, to meet the simulation process entirely performed the operation.

This simulation force feedback mechanism, guarantees the accurate of force feedback numerical value using closed-loop control.By linear slide part along guide rail The analog feedback power in direction obtains power difference F compared with boring the feedback force value of bone with real human body backbone.Single-chip microcontroller is calculated by formula (1) Motor torque M out.Direct current generator work exports a torque in torque mode, motor approximation, and six-dimension force sensor detects people The numerical value of the practical esthesis of hand, compared with boring the feedback force value of bone with real human body backbone.According to the result of the comparison, motor execution makes The movement that feedback force increases or reduces, until actual feedback power is equal with given feedback force.Corresponding modeling bone model feedback force value with True backbone feeds back the proportional relationship of force value, and the effect of force feedback in simulation practical operation is just reached according to the design of the algorithm of single-chip microcontroller Fruit emerges true power in the hand of doctor.

It is emphasized that: the above is only presently preferred embodiments of the present invention, not make in any form to the present invention Limitation, according to the technical essence of the invention any simple modification equivalent variations to the above embodiments and modification, All of which are still within the scope of the technical scheme of the invention.

Claims (5)

1. a kind of minimally invasive spine surgical simulates force feedback surgery training device, it is characterised in that: including sequentially connected hand-held part Point, drive part and bit part;
The portion of the handle is connected to one in turn by handle (303), six-dimension force sensor (302) and sensor connecting piece (301) It rises;
The drive part includes support plate (201), direct current generator (202), meshing gear (203), lead screw (204) and guide rail (205), wherein guide rail (205) one end connects the sensor connecting piece (301), lead screw (204) be affixed on the outside of guide rail (205) and It is placed in parallel, direct current generator (202) is engaged togather by meshing gear (203) with lead screw (204), and support plate (201) will be straight Galvanic electricity machine (202), lead screw (204) and guide rail (205) are fixed on close to the sensor connecting piece (301) side;
The bit part includes linear slide part (101) and bone drill bit (102), and bone drill bit (102) passes through linear slide Part (101) is connect with the guide rail (205);
The torque of the direct current generator (202) and the relationship of feedback force value are as follows:
Wherein D is middle diameter of metric trapezoidal screw;α is trapezoidal thread lift angle;F is feedback force value, unit N;M is torque, and unit is nN·m;For two meshing gear number of teeth same mechanical efficiency etas of gear driveToothIt is 0.97, the transmission efficiency η of screw pairSilkFor 0.4。
2. minimally invasive spine surgical according to claim 1 simulates force feedback surgery training device, it is characterised in that: described straight Line sliding part (101) connects bone drill bit (102) by dovetail groove, the straight-line feed of cooperation control bone drill bit (102).
3. minimally invasive spine surgical according to claim 1 simulates force feedback surgery training device, it is characterised in that: the hand Handle (303), guide rail (205) and bone drill bit (102) keep coaxial.
4. a kind of minimally invasive spine surgical based on any one of claims 1 to 3 described device simulates force feedback surgery training method, It is characterized by: intern, which holds handle (303), carries out brill bone on modeling bone model;
During boring bone, feedback force value that six-dimension force sensor (302) detection modeling bone drill os in os drill bit (102) obtains and true The feedback force value that real human spine bores bone is compared;
According to resulting fiducial value, direct current generator (202) is under torque mode according to calculated torque value output torque;
Direct current generator (202) drives lead screw (204) driving bone drill bit (102) to pass in and out guide rail by meshing gear (203), pierces Or diaphysis model is exited, Real-time force feedback is carried out, actual feedback force value and real human body backbone is finally made to bore the feedback force value of bone It is equal.
5. minimally invasive spine surgical according to claim 4 simulates force feedback surgery training method, it is characterised in that: work as reality Force feedback value bores 3 times of feedback force value or more of bone beyond real human body backbone or actually occurs feedback force value mutation, then current place In risk status, stop boring bone operation in time.
CN201510054652.8A 2015-02-02 2015-02-02 A kind of minimally invasive spine surgical simulation force feedback surgery training device and method CN105989769B (en)

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