CN106373471B - A kind of force feedback type pin puncture operative training simulator - Google Patents

A kind of force feedback type pin puncture operative training simulator Download PDF

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Publication number
CN106373471B
CN106373471B CN201610863627.9A CN201610863627A CN106373471B CN 106373471 B CN106373471 B CN 106373471B CN 201610863627 A CN201610863627 A CN 201610863627A CN 106373471 B CN106373471 B CN 106373471B
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China
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foot
connect
direct current
respectively
feet
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CN201610863627.9A
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Chinese (zh)
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CN106373471A (en
Inventor
蒋昊
雷勇
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浙江大学
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Abstract

The invention discloses a kind of force feedback type pin puncture operative training simulators.Three direct current generators are mounted on installation chassis by motor support base, the installation chassis of each direct current generator side passes through sensor support base equipped with angular displacement sensor, direct current generator output shaft is connected through shaft coupling with angular displacement sensor, and three direct current generators are connect through transmission mechanism with puncture needle;Computer is connected with USB-CAN interface card, USB-CAN interface card is connect with control circuit board and motor driver respectively, angular displacement sensor is connect with control circuit board, control circuit board is connected with motor driver, motor driver is connect with direct current generator, and respectively independent operating drives puncture needle simulating sports to direct current generator.The present invention can acquire position and posture of the puncture needle in space, in conjunction with puncture mechanical model to the corresponding feedback force of operator's Real-time Feedback, promote the effect of centesis simulation training.

Description

A kind of force feedback type pin puncture operative training simulator

Technical field

The present invention relates to a kind of pin puncture operative training simulators, perform the operation more particularly to a kind of force feedback type pin puncture Simulation Training device.

Background technique

Traditional operative training process is often at high cost usually using animal, human sample and dummy as implementation carrier It is high, stock utilization is low, to inhibit the efficiency and proficiency of medical worker's training to a certain extent.In recent years, with The development of virtual reality technology, also obtained more and more researchs and application for the analogue system of operative training.And biography System training method is compared, and operation simulation system has the characteristics that equipment without wound, repeatable strong, and can be according to requiring to pass through It is software customized, some more rare surgical procedures in practice are targetedly trained, can largely be shortened in this way To the training time of doctor, reduction training cost, reduction training difficulty, to benefit entire medical industry.Hand is carried out in doctor During art, tactile is to remove the most important judgment basis of Beyond Vision, thus the introducing of force feedback technique is for high-fidelity There is very big significance for operation simulation system.

Currently, the force feedback mechanism for being applied to operation simulation system is mainly the multiple degrees of freedom power of some offshore company's productions Feedback device, or be slightly transformed by existing apparatus.Therefore such device for force feedback is in such as freedom degree, working range, response Speed etc., the phenomenon that suffering from the wasting of resources or inadequate resource, cost also remains high.With force feedback technique For pin puncture analogue system, existing research generally rests on the tandem compound link-type six degree of freedom for producing offshore company Force feedback mechanism front end connecting puncture needle is to realize, but the serial mechanism of freedom degree means that high cost and accumulation are missed entirely The unfavorable factors such as difference.

Summary of the invention

In order to solve the problems, such as background technique, it is an object of the invention to disclose 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 circuit board, motor driver, three it is straight The mechanical, electrical machine support of galvanic electricity, shaft coupling, three angular displacement sensors, sensor support base, installation chassis, transmission mechanism and puncture needle; Three direct current generators are mounted on installation chassis with being uniformly distributed along the circumference by respective motor support base, each direct current generator side Installation chassis passes through sensor support base and the angular displacement sensor rotated for detecting direct current generator output shaft, direct current generator is housed Output shaft be connected through shaft coupling with angular displacement sensor, three direct current generators are connect through transmission mechanism with puncture needle;Computer It is connected with USB-CAN interface card, USB-CAN interface card is connect with control circuit board and motor driver respectively by CAN bus, Switching Power Supply connect with control circuit board, direct current generator, motor driver be powered respectively, angular displacement sensor and control electricity The connection of road plate, control circuit board are connected with motor driver, and motor driver is connect with direct current generator, and direct current generator is respectively independent Operation drives puncture needle simulating sports.

The transmission mechanism includes master arm, slave arm, moving platform, oscillating bearing, coupling piece, miniature drill chuck, axis 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 It holds, the bottom of miniature drill chuck is hinged in oscillating bearing in a manner of flexural pivot by coupling piece, flat equipped with fulcrum above moving platform Platform, fulcrum platform are formed a fixed connection by platform supports frame with installation chassis, and the central through hole of fulcrum platform is embedded with joint Bearing, oscillating bearing are embedded with bearing liner, and puncture needle is clamped in fixation at the top of miniature drill chuck, and miniature drill chuck and puncture needle are same Axis, puncture needle upper end are pierced by bearing liner.

Between the master arm and slave arm, it is hinged between slave arm and moving platform, and hinge joint is spherical hinge structure.

The platform supports frame is to be evenly distributed three support arms being connected between fulcrum platform and installation chassis.

The control circuit board includes the single chip machine controlling circuit being connected and CAN bus driving circuit;Single-chip microcontroller control Circuit processed:Including chip U1, the RESET foot of chip U1 is grounded after reset switch S2 and capacitor C3 respectively, and RESET foot is through resistance R4 is connect with operating voltage VCC, and NC foot is connect through resistance R5 with operating voltage VCC, in parallel brilliant between XTAL2 foot and XTAL1 foot It is grounded respectively by capacitor C4, capacitor C5 after vibration XTAL, GND foot ground connection, AREF foot meridian capacitor C6 ground connection, AVCC foot meridian capacitor C7 Ground connection, AVCC foot connect through inductance L1 with operating voltage VCC, and VCC foot is connect with operating voltage VCC, PF7~PF4 foot respectively with 9,3,5,1 foot of J-TAG interface connects, and PF7~PF4 foot is connect after resistance R9~R6 with operating voltage VCC respectively, RESET Foot is connect with 6 feet of J-TAG interface, and 4,7 feet of J-TAG interface are connect with operating voltage VCC, and 2,10 feet of J-TAG interface connect Ground;

CAN bus driving circuit:Including chip U3, the VCC foot of chip U3 is connect with operating voltage VCC, GND foot ground connection, Rs foot is grounded through resistance R2, and CANL foot and CANH foot are connect with 1,2 feet of the sub- JP2 of signal terminal respectively, RXD foot and TXD foot It being connect respectively with PD6 the and PD5 foot of chip U1, CANL foot is connected through resistance R3 with CANH foot, and 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 terminal of motor driver is connected to USB-CAN interface card connects Mouthful, 5 feet of the sub- JP2 of signal terminal, 4 feet, the connection of 3 feet are connect with PF2~PF0 foot of chip U1 respectively, signal terminal 5 feet, 4 feet, 3 feet of JP2 are connected with the output end of three angular displacement sensors respectively, the output end difference of three motor drivers It is connected with the input terminal of three direct current generators, the output end of Switching Power Supply is connected with three motor drivers.

The control circuit board further includes connecting and being supplied with single chip machine controlling circuit and CAN bus driving circuit respectively The power supply circuit of electricity, power supply circuit 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 output end of Switching Power Supply, go here and there between positive output foot and negative output foot It is associated with power switch S1 and capacitor C1, LED light D1 and resistance R1 are parallel to the both ends of capacitor C1, electricity together with capacitor C2 after connecting Hold the both ends output services voltage VCC of C1.

Compared with the background technology, the present invention, it has an advantageous effect in that:

Using the present invention, operator's hand holds puncture needle and carries out the training of puncturing operation analogue simulation, and hand can receive in real time It is similar to really puncture feedback force when muscle, bone equal samples, promotes the effect of puncturing operation training.

Puncture needle has enough spaces to simulate true puncture process, the minimum of feedback force in apparatus of the present invention Resolution ratio also meets emulation needs.

Compared with the traditional means such as human sample, dummy, the present apparatus has repeatability and biggish flexibility;With it Surplus energy feedback device is compared, and the present apparatus has very strong specific aim to puncturing operation, and mechanism utilization rate is higher, has very high sexual valence Than.Interface standard according to the present invention, circuit be simple, mechanism stable, is with a wide range of applications.

Detailed description of the invention

Fig. 1 is apparatus of the present invention overall structure connection relationship 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 schematic diagram.

Fig. 6 is moving platform mechanical structure schematic diagram.

Fig. 7 is single chip machine controlling circuit schematic diagram.

Fig. 8 is power supply circuit schematic diagram.

Fig. 9 is CAN bus driver circuit schematic diagram.

In figure:1, puncture needle, 2, platform supports frame, 3, fulcrum platform, 4, miniature drill chuck, 5, coupling piece, 6, joint shaft It holds, 7, angular displacement sensor, 8, sensor support base, 9, installation chassis, 10, motor support base, 11, slave arm, 12, direct current generator, 13, shaft coupling, 14, moving platform, 15, master arm, 16, bearing liner, 17, transmission mechanism, 18, computer, 19, USB-CAN connects Mouth card, 20, Switching Power Supply, 21, control circuit board, 22, motor driver, 23, single chip machine controlling circuit, 24, power supply circuit, 25, CAN bus driving circuit.

Specific embodiment

Present invention will be further explained below with reference to the attached drawings and examples.

The present invention includes computer 18, USB-CAN interface card 19, Switching Power Supply 20, control circuit board 21, motor driver 22, three direct current generators 12, motor support base 10, shaft coupling 13, three angular displacement sensors 7, sensor support bases 8, installation chassis 9, transmission 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 Ground is mounted on installation chassis 9, and the installation chassis 9 of each 12 side of direct current generator is equipped with by sensor support base 8 for examining The angular displacement sensor 7 of 12 output shaft of direct current generator rotation is surveyed, the output shaft of direct current generator 12 is passed through shaft coupling 13 and angular displacement Sensor 7 is connected, and three direct current generators 12 are connect through transmission mechanism 17 with the puncture needle 1 for operative training.

As shown in Figure 1, computer 18 is connected with USB-CAN interface card 19, USB-CAN interface card 19 passes through CAN bus point Do not connect with control circuit board 21 and motor driver 22, Switching Power Supply 20 respectively with control circuit board 21, direct current generator 12, electricity The connection of machine driver 22 is powered, and angular displacement sensor 7 is connect with control circuit board 21, control circuit board 21 and motor driven Device 22 connects, and motor driver 22 is connect with direct current generator 12, and the respective independent operating of direct current generator 12 drives the emulation fortune of puncture needle 1 It is dynamic.

As shown in Figure 2 to 4, transmission 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 15 one end of master arm are respectively articulated with On the output shaft of three direct current generators 12, three 15 other ends of master arm are connected to moving platform through respective slave arm 11 respectively 14 peripheries, between swing arm 15 and slave arm 11, hinged between slave arm 11 and moving platform 14, and hinge 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 the bottom of miniature drill chuck 4 is embedded by interference Shaft member 5 is hinged in oscillating bearing 6 in a manner of flexural pivot, and fulcrum platform 3 is equipped with above moving platform 14, and fulcrum platform 3 passes through platform Bearing support 2 forms 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 installation bottom Three support arms between disk 9, platform supports frame 2 are installed on installation chassis 9 by bolt, and are connected with 3 screw thread of fulcrum platform It connects.

As shown in figure 5, the central through hole of fulcrum platform 3 is embedded with oscillating bearing 6,6 interference of oscillating bearing is embedded with bearing Liner 16, fixed at the top of miniature drill chuck 4 to clamp puncture needle 1, miniature drill chuck 4 and puncture needle 1 are coaxial, and 1 upper end of puncture needle is worn Bearing liner 16 out.

As shown in fig. 7~fig. 9, control circuit board 21 includes that single chip machine controlling circuit 23, power supply circuit 24 and CAN bus are driven Dynamic circuit 25.

As shown in fig. 7, single chip machine controlling circuit 23 uses single chip computer AT 90CAN128 as main control chip, 20 feet are through resetting Switch S2 ground connection, 20 foot meridian capacitor C3 ground connection, 20 feet are connect through resistance R4 with operating voltage VCC, and 1 foot is through resistance R5 and work electricity VCC connection is pressed, is grounded respectively by capacitor C4, C5 after parallel connection crystal oscillator XTAL between 23,24 feet, 22,53,63 feet ground connection, 62 feet It is grounded through capacitor C6,64 foot meridian capacitor C7 ground connection, 64 feet are connect through inductance L1 with operating voltage VCC, 21,52 feet and operating voltage VCC connection, 54,55,56,57 feet are connect 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 and operating voltage VCC connection, 20 feet are connect with 6 feet of J-TAG interface, 4,7 feet of J-TAG interface and work Voltage VCC connection, 2, the 10 feet ground connection of J-TAG interface.

As shown in figure 8, power supply circuit 24 using 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 output end of Switching Power Supply 20,3 feet through power switch S1 and Operating voltage VCC connection, 4 feet ground connection, capacitor C1, C2 are connected in parallel between operating voltage VCC and ground, and operating voltage VCC is through resistance R1, LED light D1 ground connection;

As shown in figure 9, CAN bus driving circuit 25 is using TJA1050 as CAN bus driving chip, 3 feet and work electricity VCC connection, 2 feet ground connection are pressed, 8 feet are grounded through resistance R2, and 6,7 feet are connect with 1,2 feet of the sub- JP2 of signal terminal, 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 It is connected with the CAN interface of USB-CAN interface card 19, USB-CAN interface card 19 is connected through USB interface with computer 18.

Wherein, 1 foot of CAN bus driving chip TJA1050,4 feet respectively with 30 feet of single chip computer AT 90CAN128,31 feet It is connected, 59 feet, 60 feet, 61 feet of single chip computer AT 90CAN128 are connect with 5 feet of the sub- JP2 of signal terminal, 4 feet, 3 feet respectively, 5 feet, 4 feet, 3 feet of the sub- JP2 of signal terminal are connected with the output end of three angular displacement sensors 7 respectively, three motor drivens The output end of device 22 is connected with the input terminal of three direct current generators 12 respectively, the output end of Switching Power Supply 20 and three motor drivens Device 22 is connected.

The specific implementation course of work of the invention is as follows:

It is core, including computer 18, USB-CAN interface card 19, Switching Power Supply 20, motor driven with control circuit board 21 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 specific implementation, the model USBCAN-2A of USB-CAN interface card 19, the model S-250- of Switching Power Supply 20 24, the model RMDS-103 of motor driver 22, the model RE25-118751 of direct current generator 12, angular displacement sensor 7 Model WDD35D4.

Operator's hand holds puncture needle 1 and carries out puncture movement, drives three direct current generators 12 to rotate by transmission mechanism 17.Control Circuit board 21 processed receives the turn signal of three angular displacement sensors, 7 collected three direct current generators 12, is sent out by CAN bus USB-CAN interface card 19 is given, then passes to computer 18 through USB interface.Computer 18 combines built-in kinematics of mechanism mould Type calculates position and the posture of puncture needle 1, and the physical characteristic for puncturing simulated object is combined to calculate to operator's feedback The size and Orientation of power, then the torque that three direct current generators 12 should export respectively at this time is calculated via mechanism dynamic model. Computer 18 sends corresponding control signal by CAN bus to three motor drivers 22, controls three direct current generators 12 Armature supply realizes that complete power feels feedback to export corresponding torque.Repeat above-mentioned detection, feedback procedure, i.e., Can be achieved pin puncture Surgery Simulation training in power feel it is real-time, accurately feed back, promote the effect of operative training.

Claims (5)

1. a kind of force feedback type pin puncture operative training simulator, it is characterised in that:It is connect including computer (18), USB-CAN Mouth card (19), Switching Power Supply (20), control circuit 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), transmission mechanism (17) and Puncture needle (1);
Three direct current generators (12) are mounted on the week on installation chassis (9) by respective motor support base (10) with being uniformly distributed along the circumference It encloses, the installation chassis (9) of each direct current generator (12) side is equipped with by sensor support base (8) 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) connect through transmission mechanism (17) with puncture needle (1);
Computer (18) is connected with USB-CAN interface card (19), USB-CAN interface card (19) by CAN bus respectively with control Circuit board (21) and motor driver (22) connection, Switching Power Supply (20) respectively with control circuit board (21), direct current generator (12), Motor driver (22) connection is powered, and angular displacement sensor (7) is connect with control circuit board (21), control circuit board (21) It is connected with motor driver (22), motor driver (22) is connect with direct current generator (12), and direct current generator (12) is respectively independent to be transported Row drives puncture needle (1) simulating sports;
The transmission 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 It holds (6), the bottom of miniature drill chuck (4) is hinged in oscillating bearing (6) by coupling piece (5) in a manner of flexural pivot, moving platform (14) top is equipped with fulcrum platform (3), and fulcrum platform (3) forms fixed connect by platform supports frame (2) and installation chassis (9) It connects, 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 Fixation is clamped puncture needle (1) at the top of drill chuck (4), and coaxially, puncture needle (1) upper end is pierced by for miniature drill chuck (4) and puncture needle (1) Bearing liner (16).
2. a kind of force feedback type pin puncture operative training simulator according to claim 1, it is characterised in that:Described Between master arm (15) and slave arm (11), it is hinged between slave arm (11) and moving platform (14), and hinge joint is flexural pivot knot Structure.
3. a kind of force feedback type pin puncture operative training simulator according to claim 1, 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).
4. a kind of force feedback type pin puncture operative training simulator according to claim 1, it is characterised in that:Described Control circuit board (21) includes the single chip machine controlling circuit (23) and CAN bus driving circuit (25) being connected;
Single chip machine controlling circuit (23):Including chip U1, the RESET foot of chip U1 is followed by through reset switch S2 and capacitor C3 respectively Ground, RESET foot are connect through resistance R4 with operating voltage VCC, and NC foot is connect through resistance R5 with operating voltage VCC, XTAL2 foot and It is grounded respectively by capacitor C4, capacitor C5 after parallel connection crystal oscillator XTAL between XTAL1 foot, GND foot ground connection, AREF foot meridian capacitor C6 connects Ground, AVCC foot meridian capacitor C7 ground connection, AVCC foot are connect through inductance L1 with operating voltage VCC, and VCC foot is connect with operating voltage VCC, PF7~PF4 foot is connect with 9,3,5,1 foot of J-TAG interface respectively, and PF7~PF4 foot is electric with work after resistance R9~R6 respectively VCC connection is pressed, RESET foot is connect with 6 feet of J-TAG interface, and 4,7 feet of J-TAG interface are connect with operating voltage VCC, J-TAG 2,10 feet of interface are grounded;
CAN bus driving circuit (25):Including chip U3, the VCC foot of chip U3 is connect with operating voltage VCC, GND foot ground connection, Rs foot is grounded through resistance R2, and CANL foot and CANH foot are connect with 1,2 feet of the sub- JP2 of signal terminal respectively, RXD foot and TXD foot It being connect respectively with PD6 the and PD5 foot of chip U1, CANL foot is connected through resistance R3 with CANH foot, and 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, the connection of 3 feet 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 Outlet is connected, and the output end of three motor drivers (22) is connected with the input terminal of three direct current generators (12) respectively, switch electricity The output end in source (20) is connected with three motor drivers (22).
5. a kind of force feedback type pin puncture operative training simulator according to claim 4, it is characterised in that:Described Control circuit board (21) further includes connecting and being powered with single chip machine controlling circuit (23) and CAN bus driving circuit (25) respectively Power supply circuit (24), power supply circuit (24) includes 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 output end of Switching Power Supply (20), positive output foot and negative output It is in series with power switch S1 and capacitor C1 between foot, is parallel to capacitor C1 together with capacitor C2 after LED light D1 and resistance R1 series connection Both ends, the both ends output services voltage VCC of capacitor C1.
CN201610863627.9A 2016-09-29 2016-09-29 A kind of force feedback type pin puncture operative training simulator CN106373471B (en)

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Application Number Priority Date Filing Date Title
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CN106373471B true CN106373471B (en) 2018-11-20

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5731804A (en) * 1995-01-18 1998-03-24 Immersion Human Interface Corp. Method and apparatus for providing high bandwidth, low noise mechanical I/O for computer systems
US6024576A (en) * 1996-09-06 2000-02-15 Immersion Corporation Hemispherical, high bandwidth mechanical interface for computer systems
EP2760003A1 (en) * 2013-01-24 2014-07-30 Surgical Science Sweden AB Haptic user interface device for surgical simulation system
CN104537938B (en) * 2014-12-21 2017-02-22 合肥德铭电子有限公司 Endoscope simulative training system capable of achieving flexible force feedback
CN105654830A (en) * 2016-03-21 2016-06-08 苏州敏行医学信息技术有限公司 Puncture simulation device and puncture simulation method

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