CN106373471A - Force feedback type needle puncture surgery training simulation device - Google Patents
Force feedback type needle puncture surgery training simulation device Download PDFInfo
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- CN106373471A CN106373471A CN201610863627.9A CN201610863627A CN106373471A CN 106373471 A CN106373471 A CN 106373471A CN 201610863627 A CN201610863627 A CN 201610863627A CN 106373471 A CN106373471 A CN 106373471A
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- foot
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- direct current
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- force feedback
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
Abstract
The present invention discloses a force feedback type needle puncture surgery training simulation device. Three direct-current motors are mounted on a mounting chassis through motor supporting seats; the mounting chassis is provided with three angular displacement sensors through sensor supporting seats, wherein the three angular displacement sensors are located beside the three direct-current motors respectively; the output shafts of the direct-current motors are connected with the angular displacement sensors through couplings; the three direct-current motors are connected with a puncture needle through a transmission mechanism; a computer is connected with a USB-CAN interface card; the USB-CAN interface card is connected with a control circuit board and a motor driver; the angular displacement sensors are connected with the control circuit board; the control circuit board is connected with the motor driver; the motor driver is connected with the direct-current motors; and the direct-current motors operate independently so as to drive the puncture needle to move in a simulation manner. According to the device of the invention, the position and attitude of the puncture needle in a movement space can be acquired, corresponding force feedback can be bed back to an operator in real time based on the mechanics model of puncture, and therefore, the effect of puncture simulation training can be improved.
Description
Technical field
The present invention relates to a kind of pin puncture operative training simulator, more particularly to a kind of force feedback type pin puncture operation
Simulation Training device.
Background technology
Traditional operative training process is generally using animal, human sample and dummy as enforcement carrier, often high cost
High, stock utilization is low, thus inhibiting efficiency and the proficiency of medical worker's training to a certain extent.In recent years, with
The development of virtual reality technology, the analogue system for operative training has also obtained increasing research and applied.And biography
System training method is compared, and operation simulation system has the characteristics that equipment is no hindered, repeatable strong, and can pass through as requested
Software customized, targetedly train some operation processs more rare in practice, so can largely shorten
To the training time of doctor, reducing training cost, reducing training difficulty, thus benefiting whole medical industry.Carry out handss in doctor
During art, tactile is except the most important basis for estimation of Beyond Vision, thus the introducing of force feedback technique is for high-fidelity
There is very big significance for operation simulation system.
At present, the force feedback mechanism being applied to operation simulation system is mainly the multiple degrees of freedom power of some offshore companies production
Feedback device, or slightly transformed by existing apparatus and form.Therefore such device for force feedback is in such as degree of freedom, working range, response
The aspects such as speed, suffer from the wasting of resources or the phenomenon of inadequate resource, and cost also remains high.To have force feedback technique
As a example pin puncture analogue system, existing research generally rests on the tandem compound link-type six degree of freedom producing offshore company
Force feedback mechanism front end connecting puncture needle is realizing, but the serial mechanism of full degree of freedom means high cost and accumulation by mistake
The unfavorable factors such as difference.
Content of the invention
In order to solve problem present in background technology, it is an object of the invention to disclosing a kind of force feedback type pin puncture
Operative training simulator, specificity is strong, resource utilization is high, Practical Performance is good.
The technical scheme is that
The present invention include computer, usb-can interface card, Switching Power Supply, control board, motor driver, three straight
Stream motor, motor support base, shaft coupling, three angular displacement sensors, sensor support base, installation chassis, drive mechanism and puncture needle；
Three direct current generators are arranged on installation chassis with being uniformly distributed along the circumference by respective motor support base, each direct current generator side
Installation chassis is all by sensor support base equipped with the angular displacement sensor for detecting direct current generator output shaft rotation, direct current generator
Output shaft be connected with angular displacement sensor through shaft coupling, three direct current generators are connected with puncture needle through drive mechanism；Computer
It is connected with usb-can interface card, usb-can interface card is connected with control board and motor driver respectively by can bus,
Switching Power Supply is connected with control board, direct current generator, motor driver respectively and is powered, angular displacement sensor with control electricity
Road plate connects, and control board and motor driver connect, and motor driver is connected with direct current generator, and direct current generator is each independent
Run and drive puncture needle simulating sports.
Described drive mechanism includes master arm, slave arm, moving platform, oscillating bearing, coupling piece, miniature drill chuck, axle
Hold liner, fulcrum platform and platform bearing support；Three master arm one end are respectively hinged on the output shaft of three direct current generators, and three
The root master arm other end is connected to moving platform periphery through respective slave arm respectively, and the interstitial hole of moving platform has been embedded in joint shaft
Hold, the bottom of miniature drill chuck is hinged in oscillating bearing in ball pivot mode by coupling piece, be provided with fulcrum above moving platform and put down
Platform, fulcrum platform is formed a fixed connection by platform supports frame and installation chassis, and the central through hole of fulcrum platform is embedded with joint
Bearing, oscillating bearing is embedded with bearing liner, and puncture needle is clamped in the fixation of miniature drill chuck top, and miniature drill chuck and puncture needle are same
Axle, puncture needle upper end passes bearing liner.
Between described master arm and slave arm, all hinged between slave arm and moving platform, and pin joint is spherical hinge structure.
Described platform supports frame is to be evenly distributed three support arms being connected between fulcrum platform and installation chassis.
Described control board includes the single chip machine controlling circuit being connected and can bus driving circuits；Single-chip microcomputer control
Circuit processed: include chip u1, the reset foot of chip u1 is grounded respectively after reset switch s2 and electric capacity c3, and reset foot is through resistance
R4 is connected with running voltage vcc, and nc foot is connected with running voltage vcc through resistance r5, in parallel brilliant between xtal2 foot and xtal1 foot
Shake and pass through electric capacity c4, electric capacity c5 after xtal respectively and be grounded, gnd foot is grounded, and aref foot meridian capacitor c6 is grounded, avcc foot meridian capacitor c7
Ground connection, avcc foot is connected with running voltage vcc through inductance l1, and vcc foot is connected with running voltage vcc, pf7～pf4 foot respectively with
The 9 of j-tag interface, 3,5,1 foot connects, and pf7～pf4 foot is connected with running voltage vcc respectively after resistance r9～r6, reset
Foot is connected with 6 feet of j-tag interface, and 4,7 feet of j-tag interface are connected with running voltage vcc, and 2,10 feet of j-tag interface connect
Ground；
Can bus driving circuits: include chip u3, the vcc foot of chip u3 is connected with running voltage vcc, gnd foot is grounded,
Rs foot is grounded through resistance r2, and 1,2 feet of canl foot and canh foot jp2 with signal terminal respectively are connected, rxd foot and txd foot
It is connected with pd6 the and pd5 foot of chip u1 respectively, canl foot is connected with canh foot through resistance r3,1, the 2 of the sub- jp2 of signal terminal
Foot is connected with the can interface of usb-can interface card, and the can that the input of motor driver is connected to usb-can interface card connects
Mouthful, 5 feet of the sub- jp2 of signal terminal, 4 feet, 3 feet are connected and are connected with pf2～pf0 foot of chip u1 respectively, signal terminal
5 feet of jp2,4 feet, 3 feet are connected with the outfan of three angular displacement sensors respectively, and the outfan of three motor drivers is respectively
It is connected with the input of three direct current generators, the outfan of Switching Power Supply is connected with three motor drivers.
Described control board is also included being connected with single chip machine controlling circuit and can bus driving circuits respectively and is supplied
The power supply circuits of electricity, power supply circuits include chip u2, two input pins of chip u2 respectively with power supply terminal jp1 2,1
Foot is connected, and 1,2 feet of power supply terminal jp1 are connected with the outfan of Switching Power Supply, goes here and there between positive output foot and negative output foot
It is parallel to the two ends of electric capacity c1, electricity together with electric capacity c2 after being associated with and off switch s1 and electric capacity c1, LED lamp d1 and resistance r1 series connection
Hold the two ends output services voltage vcc of c1.
The present invention, compared with background technology, has the beneficial effect that
Using the present invention, operator's handss are held puncture needle and are carried out puncturing operation analogue simulation training, and hand can receive in real time
It is similar to truly puncture feedback force when muscle, skeleton equal samples, the effect of lifting puncturing operation training.
In apparatus of the present invention, puncture needle has enough spaces in order to simulate real piercing process, the minimum of feedback force
Resolution also meets emulation needs.
Compared with the traditional means such as human sample, dummy, this device has repeatable and larger motility；With it
Surplus energy feedback device is compared, and this device has very strong specific aim to puncturing operation, and mechanism's utilization rate is higher, has very high sexual valence
Than.Interface standard involved in the present invention, circuit are simple, mechanism stable, are with a wide range of applications.
Brief description
Fig. 1 is apparatus of the present invention population structure annexation schematic diagram.
Fig. 2 is device overall mechanical design schematic diagram.
Fig. 3 is device overall mechanical design front view.
Fig. 4 is device overall mechanical design top view.
Fig. 5 is fulcrum Platform Machinery structural representation.
Fig. 6 is moving platform frame for movement schematic diagram.
Fig. 7 is single chip machine controlling circuit schematic diagram.
Fig. 8 is power supply circuits schematic diagram.
Fig. 9 is can bus driving circuits schematic diagram.
In figure: 1, puncture needle, 2, platform supports frame, 3, fulcrum platform, 4, miniature drill chuck, 5, coupling piece, 6, joint shaft
Hold, 7, angular displacement sensor, 8, sensor support base, 9, installation chassis, 10, motor support base, 11, slave arm, 12, direct current generator,
13rd, shaft coupling, 14, moving platform, 15, master arm, 16, bearing liner, 17, drive mechanism, 18, computer, 19, usb-can connects
Mouthful card, 20, Switching Power Supply, 21, control board, 22, motor driver, 23, single chip machine controlling circuit, 24, power supply circuits,
25th, can bus driving circuits.
Specific embodiment
The present invention is further described with reference to the accompanying drawings and examples.
The present invention includes computer 18, usb-can interface card 19, Switching Power Supply 20, control board 21, motor driver
22nd, three direct current generators 12, motor support bases 10, shaft coupling 13, three angular displacement sensors 7, sensor support base 8, installation chassis
9th, drive mechanism 17 and puncture needle 1.As shown in Fig. 2 three direct current generators 12 are uniformly distributed along the circumference by respective motor support base 10
Be arranged on installation chassis 9, the installation chassis 9 of each direct current generator 12 side is all by sensor support base 8 equipped with for examining
Survey the angular displacement sensor 7 of direct current generator 12 output shaft rotation, the output shaft of direct current generator 12 is passed with angular displacement through shaft coupling 13
Sensor 7 is connected, and three direct current generators 12 are connected with the puncture needle 1 for operative training through drive mechanism 17.
As shown in figure 1, computer 18 is connected with usb-can interface card 19, usb-can interface card 19 is divided by can bus
Be not connected with control board 21 and motor driver 22, Switching Power Supply 20 respectively with control board 21, direct current generator 12, electricity
Machine driver 22 connects and is powered, and angular displacement sensor 7 is connected with control board 21, control board 21 and Motor drive
Device 22 connects, and motor driver 22 is connected with direct current generator 12, and the respective independent operating of direct current generator 12 drives puncture needle 1 emulation fortune
Dynamic.
As shown in Figure 2 to 4, drive mechanism 17 includes master arm 15, slave arm 11, moving platform 14, oscillating bearing 6, connection
Shaft member 5, miniature drill chuck 4, bearing liner 16, fulcrum platform 3 and platform bearing support 2；Three master arm 15 one end are respectively articulated with
On the output shaft of three direct current generators 12, three master arm 15 other ends are connected to moving platform through respective slave arm 11 respectively
14 peripheries, between swing arm 15 and slave arm 11, all hinged between slave arm 11 and moving platform 14, and pin joint is spherical hinge structure.
As shown in fig. 6, the interstitial hole of moving platform 14 has been embedded in oscillating bearing 6, the connection that interference embeds is passed through in the bottom of miniature drill chuck 4
Shaft member 5 is hinged in oscillating bearing 6 in ball pivot mode, is provided with fulcrum platform 3 above moving platform 14, and fulcrum platform 3 passes through platform
Bearing support 2 is formed a fixed connection with installation chassis 9, and platform supports frame 2 is to be evenly distributed to be connected to fulcrum platform 3 and install bottom
Three support arms between disk 9, platform supports frame 2 is installed on installation chassis 9 by bolt, and with fulcrum platform 3 screw thread even
Connect.
As shown in figure 5, the central through hole of fulcrum platform 3 is embedded with oscillating bearing 6, oscillating bearing 6 interference is embedded with bearing
Liner 16, puncture needle 1 is clamped in the fixation of miniature drill chuck 4 top, and miniature drill chuck 4 and puncture needle 1 are coaxial, and puncture needle 1 upper end is worn
Go out bearing liner 16.
As shown in Fig. 7～Fig. 9, control board 21 includes single chip machine controlling circuit 23, power supply circuits 24 and can bus and drives
Galvanic electricity road 25.
As shown in fig. 7, single chip machine controlling circuit 23 adopts single-chip microcomputer at90can128 as main control chip, 20 feet are through resetting
Switch s2 ground connection, 20 foot meridian capacitor c3 ground connection, 20 feet are connected with running voltage vcc through resistance r4, and 1 foot is through resistance r5 and work electricity
Pressure vcc connects, and passes through electric capacity c4, c5 respectively and be grounded after crystal oscillator xtal in parallel between 23,24 feet, 22,53,63 foot ground connection, 62 feet
Through electric capacity c6 ground connection, 64 foot meridian capacitor c7 ground connection, 64 feet are connected with running voltage vcc through inductance l1,21,52 feet and running voltage
Vcc connects, and 54,55,56,57 feet are connected with 9,3,5,1 foot of j-tag interface respectively, and 54,55,56,57 feet are respectively through resistance
R9, r8, r7, r6 are connected with running voltage vcc, and 20 feet are connected with 6 feet of j-tag interface, 4,7 feet of j-tag interface and work
Voltage vcc connects, 2,10 foot ground connection of j-tag interface.
As shown in figure 8, power supply circuits 24 adopt lm2596 as voltage stabilizing chip, 1,2 feet respectively with power supply terminal jp1
2,1 foot be connected, 1,2 feet of power supply terminal jp1 are connected with the outfan of Switching Power Supply 20,3 feet through on and off switch s1 and
Running voltage vcc connects, 4 foot ground connection, and electric capacity c1, c2 are connected in parallel between running voltage vcc and ground, and running voltage vcc is through resistance
R1, LED lamp d1 are grounded；
As shown in figure 9, can bus driving circuits 25 adopt tja1050 as can bus driver chip, 3 feet and work electricity
Pressure vcc connects, 2 foot ground connection, and 8 feet are grounded through resistance r2, and 1,2 feet of 6,7 feet jp2 with signal terminal are connected, and 6 feet are through resistance
R3 is connected with 7 feet, and 1,2 feet of the sub- jp2 of signal terminal are connected with the can interface of usb-can interface card 19, motor driver 22
With usb-can interface card 19 can interface be connected, usb-can interface card 19 is connected with computer 18 through usb interface.
Wherein, 1 foot of can bus driver chip tja1050,4 feet 30 feet, 31 feet with single-chip microcomputer at90can128 respectively
It is connected, 5 feet of jp2 with signal terminal, 4 feet, 3 feet are connected respectively for 59 feet of single-chip microcomputer at90can128,60 feet, 61 feet,
5 feet of the sub- jp2 of signal terminal, 4 feet, 3 feet are connected with the outfan of three angular displacement sensors 7 respectively, three Motor drives
The outfan of device 22 is connected with the input of three direct current generators 12 respectively, the outfan of Switching Power Supply 20 and three Motor drives
Device 22 is connected.
The present invention to be embodied as work process as follows:
With control board 21 as core, including computer 18, usb-can interface card 19, Switching Power Supply 20, Motor drive
Device 22, direct current generator 12, motor support base 10, shaft coupling 13, angular displacement sensor 7, sensor support base 8, installation chassis 9, transmission
Mechanism 17 and puncture needle 1.
In being embodied as, model usbcan-2a of usb-can interface card 19, model s-250- of Switching Power Supply 20
24, model rmds-103 of motor driver 22, model re25-118751 of direct current generator 12, angular displacement sensor 7
Model wdd35d4.
Operator's handss are held puncture needle 1 and are carried out puncture action, drive three direct current generators 12 to rotate by drive mechanism 17.Control
Circuit board 21 processed receives the turn signal of three direct current generators 12 that three angular displacement sensors 7 collect, and is sent out by can bus
Give usb-can interface card 19, then pass to computer 18 through usb interface.Computer 18 combines built-in kinematics of mechanism mould
Type, calculates position and the attitude of puncture needle 1, and the physical characteristics of combination puncture simulated object calculate to operator's feedback
The size and Orientation of power, then calculate, via mechanism dynamic model, the torque that now three direct current generators 12 should export respectively.
Computer 18 sends corresponding control signal to three motor drivers 22 by can bus, controls three direct current generators 12
Armature supply, thus exporting corresponding torque, realizing complete power and feeling feedback.Repeat above-mentioned detection, feedback procedure, that is,
That in the training of achievable pin puncture Surgery Simulation, power is felt is real-time, accurately feed back, the effect of lifting operative training.
Claims (6)
1. a kind of force feedback type pin puncture operative training simulator it is characterised in that: include computer (18), usb-can connects
Mouth card (19), Switching Power Supply (20), control board (21), motor driver (22), three direct current generators (12), motor support bases
(10), shaft coupling (13), three angular displacement sensors (7), sensor support base (8), installation chassis (9), drive mechanism (17) and
Puncture needle (1)；
Three direct current generators (12) are arranged on the week on installation chassis (9) by respective motor support base (10) with being uniformly distributed along the circumference
Enclose, the installation chassis (9) of each direct current generator (12) side is all by sensor support base (8) equipped with for detecting direct current generator
(12) angular displacement sensor (7) of output shaft rotation, the output shaft of direct current generator (12) is through shaft coupling (13) and angle displacement transducer
Device (7) is connected, and three direct current generators (12) are connected with puncture needle (1) through drive mechanism (17)；
Computer (18) is connected with usb-can interface card (19), usb-can interface card (19) pass through can bus respectively with control
Circuit board (21) and motor driver (22) connect, Switching Power Supply (20) respectively with control board (21), direct current generator (12),
Motor driver (22) connection is powered, and angular displacement sensor (7) is connected with control board (21), control board (21)
Connect with motor driver (22), motor driver (22) is connected with direct current generator (12), direct current generator (12) is each independent to be transported
Row drives puncture needle (1) simulating sports.
2. a kind of force feedback type pin puncture operative training simulator according to claim 1 it is characterised in that: described
Drive mechanism (17) includes master arm (15), slave arm (11), moving platform (14), oscillating bearing (6), coupling piece (5), miniature drill
Chuck (4), bearing liner (16), fulcrum platform (3) and platform bearing support (2)；
Three master arm (15) one end are respectively hinged on the output shaft of three direct current generators (12), and three master arms (15) are another
End is connected to moving platform (14) periphery through respective slave arm (11) respectively, and the interstitial hole of moving platform (14) has been embedded in joint shaft
Hold (6), the bottom of miniature drill chuck (4) is hinged in oscillating bearing (6) in ball pivot mode by coupling piece (5), moving platform
(14) it is provided with fulcrum platform (3) above, fulcrum platform (3) passes through platform supports frame (2) and forms fixing company with installation chassis (9)
Connect, the central through hole of fulcrum platform (3) is embedded with oscillating bearing (6), and oscillating bearing (6) is embedded with bearing liner (16), miniature
Puncture needle (1) is clamped in the fixation of drill chuck (4) top, and miniature drill chuck (4) and puncture needle (1) are coaxial, and puncture needle (1) upper end passes
Bearing liner (16).
3. a kind of force feedback type pin puncture operative training simulator according to claim 2 it is characterised in that: described
Between master arm (15) and slave arm (11), all hinged between slave arm (11) and moving platform (14), and pin joint is ball pivot knot
Structure.
4. a kind of force feedback type pin puncture operative training simulator according to claim 2 it is characterised in that: described
Platform supports frame (2) is to be evenly distributed three support arms being connected between fulcrum platform (3) and installation chassis (9).
5. a kind of force feedback type pin puncture operative training simulator according to claim 1 it is characterised in that: described
Control board (21) includes single chip machine controlling circuit (23) and the can bus driving circuits (25) being connected；
Single chip machine controlling circuit (23): include chip u1, the reset foot of chip u1 is followed by through reset switch s2 and electric capacity c3 respectively
Ground, reset foot is connected with running voltage vcc through resistance r4, and nc foot is connected with running voltage vcc through resistance r5, xtal2 foot with
Pass through electric capacity c4, electric capacity c5 after crystal oscillator xtal in parallel between xtal1 foot respectively to be grounded, gnd foot is grounded, and aref foot meridian capacitor c6 connects
Ground, avcc foot meridian capacitor c7 is grounded, and avcc foot is connected with running voltage vcc through inductance l1, and vcc foot is connected with running voltage vcc,
Pf7～pf4 foot is connected with 9,3,5,1 foot of j-tag interface respectively, and pf7～pf4 foot is electric with work after resistance r9～r6 respectively
Pressure vcc connects, and reset foot is connected with 6 feet of j-tag interface, and 4,7 feet of j-tag interface are connected with running voltage vcc, j-tag
The 2 of interface, 10 foot ground connection；
Can bus driving circuits (25): include chip u3, the vcc foot of chip u3 is connected with running voltage vcc, gnd foot is grounded,
Rs foot is grounded through resistance r2, and 1,2 feet of canl foot and canh foot jp2 with signal terminal respectively are connected, rxd foot and txd foot
It is connected with pd6 the and pd5 foot of chip u1 respectively, canl foot is connected with canh foot through resistance r3,1, the 2 of the sub- jp2 of signal terminal
Foot is connected with the can interface of usb-can interface card (19), 5 feet of the sub- jp2 of signal terminal, 4 feet, 3 feet connect respectively with chip
Pf2～pf0 foot of u1 connects, and 5 feet of the sub- jp2 of signal terminal, 4 feet, 3 feet are defeated with three angular displacement sensors (7) respectively
Go out end to be connected, the outfan of three motor drivers (22) is connected with the input of three direct current generators (12) respectively, switch electricity
The outfan in source (20) is connected with three motor drivers (22).
6. a kind of force feedback type pin puncture operative training simulator according to claim 5 it is characterised in that: described
Control board (21) is also included being connected with single chip machine controlling circuit (23) and can bus driving circuits (25) respectively and is powered
Power supply circuits (24), power supply circuits (24) include chip u2, two input pins of chip u2 respectively with power supply terminal jp1
2,1 foot be connected, 1,2 feet of power supply terminal jp1 are connected with the outfan of Switching Power Supply (20), positive output foot and negative output
It is parallel to electric capacity c1 together with electric capacity c2 after being in series with and off switch s1 and electric capacity c1, LED lamp d1 and resistance r1 series connection between foot
Two ends, the two ends output services voltage vcc of electric capacity c1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610863627.9A CN106373471B (en) | 2016-09-29 | 2016-09-29 | A kind of force feedback type pin puncture operative training simulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610863627.9A CN106373471B (en) | 2016-09-29 | 2016-09-29 | A kind of force feedback type pin puncture operative training simulator |
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| Publication Number | Publication Date |
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| CN106373471A true CN106373471A (en) | 2017-02-01 |
| CN106373471B CN106373471B (en) | 2018-11-20 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109009444A (en) * | 2018-08-23 | 2018-12-18 | 广州医科大学附属第医院 | A kind of electromagnetic type force feedback puncturing operation auxiliary device and robot puncturing system |
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| CN109009444B (en) * | 2018-08-23 | 2023-09-01 | 广州医科大学附属第一医院 | Electromagnetic force feedback puncture operation auxiliary device and robot puncture system |
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| Publication number | Publication date |
|---|---|
| CN106373471B (en) | 2018-11-20 |
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