CN107067921A - A kind of force feedback apparatus that can be extended to seven freedom - Google Patents
A kind of force feedback apparatus that can be extended to seven freedom Download PDFInfo
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- CN107067921A CN107067921A CN201610856122.XA CN201610856122A CN107067921A CN 107067921 A CN107067921 A CN 107067921A CN 201610856122 A CN201610856122 A CN 201610856122A CN 107067921 A CN107067921 A CN 107067921A
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- 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
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Abstract
A kind of force feedback apparatus that can be extended to seven freedom, including, four-degree-of-freedom device for force feedback, free degree expanding unit, handle.Wherein four-degree-of-freedom device for force feedback is threadably secured with handle is connected composition four-degree-of-freedom force feedback apparatus, the apparatus can realize 3 directions rotation and along joystick shaft to move；Described four-degree-of-freedom device for force feedback is threadably secured with the free degree expanding unit when being connected composition seven freedom force feedback apparatus, and the apparatus can realize the rotation in 3 directions, the movement in 3 directions and scissors handle shearing motion.The feedback force of each free degree is provided by a single motor, and force-feedback control is accurate, and controllability is strong.Mechanism compact conformation, composition four-degree-of-freedom force feedback apparatus or seven freedom force feedback apparatus can be selected according to requirements, more surgical apparatuses can be simulated, small volume manufacturing cost is low simultaneously.
Description
Technical field
The present invention relates to a kind of mankind and computer interface equipment, a kind of specifically virtual emulation for training of doctors
Force feedback surgical instrument.
Background technology
Recently as the fast development of virtual reality technology, it is used widely in many fields at present.Such as：Using
In the training of trainee surgeon, intern or other operators or user's " manipulation " scalpel or probe are in computer simulation
" body " carry out operative training, be trained compared on traditional human cadaver's sample, the system can provide one
More real manikin, may be reused reduction surgery training expense.Doctor's actual operation operating experience is trained, shortens training
The instruction cycle.
When carrying out virtual operation training, doctor needs the experience of real tactile and vision, " sensation " scalpel or hand
The utensils such as art pincers need with great power to be very important when moving in human body.The experience that power is felt is generally from force feedback apparatus
Middle to obtain, the free degree that more successful force feedback apparatus can be realized at present is fixed, for some specific surgical scenes
It can not well adapt to.In addition the achievable free degree is less mostly for current power backhand art feedback apparatus, it is impossible to simulation fortune
The operating theater instruments of dynamic state complex, and it is multi-connecting-rod mechanism that most of multivariant force feedback apparatus can be achieved at present, its
Motion is not steady enough.
The content of the invention
The present invention is directed to deficiencies of the prior art, devises a kind of force feedback medical training device of virtual emulation
Tool, the present invention can select 4 freedom degree force feedback apparatuses of composition or 7 free force force feedback apparatuses according to requirements, can mould
Intend more surgical operating instruments.
The present invention is achieved through the following technical solutions：Including：Four-degree-of-freedom device for force feedback, free degree expanding unit, hand
Handle.Wherein four-degree-of-freedom device for force feedback is threadably secured with handle is connected composition four-degree-of-freedom force feedback apparatus, described
Four-degree-of-freedom device for force feedback is threadably secured with free degree expanding unit is connected composition seven freedom force feedback apparatus.
Described four-degree-of-freedom device for force feedback includes：Support, force feedback component I, force feedback component II, force feedback component
Ⅲ.Waling stripe one end wherein in force feedback component I is connected by bearing with support, and the other end passes through with force feedback component II
Revolute pair is connected, and the sleeve of force feedback component III passes through the hole of support block in force feedback component II, and with friction pulley squeezed tight
Coordinate.
Described free degree expanding unit includes：Novel ball pair support frame, motor, motor fixing frame, turbine group, snail
Bar, force feedback component IV, wherein motor are fixed on the secondary support frame of novel ball by motor fixing frame, described driving electricity
Machine output shaft is fixedly connected with worm screw, and described worm screw is connected with turbine group with gear, described turbine group is fixed by screw
In on the secondary support frame of novel ball, force feedback component IV is fixedly connected by described novel ball pair support frame aperture.
The force feedback component I includes：Motor, little gear, gear wheel, waling stripe, wherein motor are fixed
In being surveyed in support, described driving motor output shaft is fixedly connected with little gear, and described little gear is engaged with gear wheel, described
Gear wheel be connected with waling stripe by axle.
The force feedback component II includes：Support block, motor, friction pulley.Wherein motor is fixed by screw
It is connected in support block, described driving motor output shaft is fixedly connected with friction pulley, described friction pulley and force feedback component
III sleeve squeezed tight coordinates.
The force feedback component III includes：Sleeve, ball bearing, action bars, yielding coupling, motor, electric motor end cap.
Wherein action bars is fixed in sleeve by bearing, and the described action bars other end is exported by yielding coupling and motor
Axle is connected, and described motor is fixed in sleeve by electric motor end cap, described electric motor end cap and sleeve mode connects for screw.
The secondary support frame of the novel ball includes：Spheroid, supporting plate, slide plate, ball subframe, wherein spheroid are with supporting plate with sphere
Pair connection, described supporting plate is fixed in ball subframe, and 8 slide plates being distributed in around spheroid are placed in spheroid groove by bracing wire
Interior, described slide plate can be slided along groove, and the described bracing wire other end is wound on turbine.
The force feedback component IV includes：Scissors handle, handle drives motor, action bars, sleeve, ball bearing, elasticity connection
Axle device, action bars motor, electric motor end cap, wherein handle drives motor are fixed on scissors handle, described handle drives
Motor output shaft is rotated with the folding of scissors handle, and described scissors handle is fixedly connected with action bars, described action bars
It is fixed on by ball bearing in sleeve, the described action bars other end passes through yielding coupling and action bars driving motor output shaft
Connection, described action bars motor is fixed in sleeve by electric motor end cap, described electric motor end cap and sleeve screw
Connection.
A kind of force feedback apparatus that can be extended to seven freedom of the present invention has the advantages that：The present invention can be used for
Virtual operation training system, is a kind of human-computer interaction device, and the power that can be provided for operator in virtual operation feels feedback；This hair
The bright force feedback apparatus that can select to constitute the force feedback apparatus or seven freedom of four-degree-of-freedom according to requirements, wherein four selfs
The free degree that 3 rotational freedoms can be provided by degree force feedback apparatus and moved axially along action bars, can simulate puncture needle, inside peep
The interventional operation equipments such as mirror, seven freedom force feedback apparatus can provide 3 rotational freedoms, 3 one-movement-freedom-degrees and 1 handle
The rotational freedom seized on both sides by the arms, can simulate scalpel, the medical surgical instrument such as operating forceps；Compact conformation of the present invention, small volume.
Brief description of the drawings
Fig. 1 to Fig. 3 is a kind of overall construction drawing for the force feedback apparatus that can be extended to seven freedom of the present invention.
Fig. 4 is cut-away view in force feedback component II.
Fig. 5 is the structure chart of force feedback component III.
Fig. 6 is the secondary support frame structure figure of novel ball.
Fig. 7 is the structure chart of force feedback component IV.
Embodiment
1 elaborate below in conjunction with the accompanying drawings to 7 pairs of specific embodiments of the invention of accompanying drawing.
This example includes：Four-degree-of-freedom device for force feedback 1, free degree expanding unit 3, handle 2, wherein four-degree-of-freedom power are anti-
Feedback device 1 be threadably secured with handle 2 be connected composition four-degree-of-freedom force feedback apparatus, four-degree-of-freedom device for force feedback 1 and oneself
Connection is threadably secured by degree expanding unit 3 and constitutes seven freedom force feedback apparatus.
The device of four-degree-of-freedom force feedback 1 includes：Support 101, force feedback component I, force feedback component II, force feedback component
III, wherein one end of waling stripe 104 in force feedback component I is connected by bearing with support 101, the other end and force feedback component
II is connected by revolute pair, and the one end of waling stripe 107 is connected by bearing with support 101, and the other end leads to force feedback component II
Revolute pair connection is crossed, the sleeve 115 of force feedback component III passes through the hole of support block 111 in force feedback component II, and and friction pulley
112 squeezed tights coordinate.
Free degree expanding unit includes：Novel ball pair support frame, force feedback component IV, motor 308, motor fixing frame
307th, turbine group 306, worm screw 309, wherein motor 308 are fixed on the secondary support frame of novel ball by motor fixing frame 307
Its output shaft is fixedly connected with worm screw 309, and worm screw 309 is connected with turbine group 306 with gear, turbine group 306 is fixed by screw
On the secondary support frame of novel ball, force feedback component IV is fixedly connected through the secondary support frame of support frame aperture and novel ball, motor
308 output shafts connect position sensor.
Force feedback component I includes：Motor 108, motor 110, little gear 102, gear wheel 103, little gear
105th, gear wheel 106, waling stripe 104, waling stripe 107, wherein motor 108 are fixed on survey, output shaft in support 101
It is fixedly connected with little gear 102, little gear 102 is engaged with gear wheel 103, gear wheel 103 is connected with waling stripe 104 by axle
Connect.Motor 110 is fixed on survey in support 101, and output shaft is fixedly connected with little gear 105, little gear 105 and gear wheel
106 engagements, gear wheel 106 is connected with waling stripe 107 by axle.Angle position is connected with waling stripe 104, waling stripe 107
Velocity sensor is connected with displacement sensor, motor 108, the axle of motor 110.
Force feedback component II includes：Support block 111, motor 109, friction pulley 112.Wherein motor 109 passes through
Screw is fixedly connected on 111 in support block, and the output shaft of motor 109 is fixedly connected with friction pulley 112, friction pulley 112 and power
The squeezed tight of sleeve 115 of feedback component III coordinates.Speed, position sensor are connected with the output shaft of motor 109.
Force feedback component III includes：Sleeve 115, ball bearing 117, action bars 116, yielding coupling 119, motor
120, electric motor end cap 113, action bars 116 is fixed in sleeve 115 by ball bearing, and the other end of action bars 116 is joined by elasticity
Axle device 119 is connected with the output shaft of motor 120, and motor 120 is fixed in sleeve 115 by electric motor end cap 113, motor
End cap 113 uses mode connects for screw with sleeve 115.Speed, position sensor are connected with the output shaft of motor 120.
Novel ball pair support frame includes：Spheroid 301, supporting plate 304, slide plate 302, bracing wire 303, ball subframe 305, spheroid
301 are connected with supporting plate 304 with spherical pair, and supporting plate 304 is fixed in ball subframe, 8 slide plates for being distributed in around spheroid 301
302 are placed in spheroid groove by bracing wire 303, and slide plate 302 can be slided along groove, and the other end of bracing wire 303 is wound on turbine.It is sliding
Piece 302 is connected with pressure sensor with the contact side of spheroid 301.A clamping force is provided for ball pair by the slip of slide plate 302, when
Ball subframe 305 around spheroid 301 rotate when by frictional force give operator provide a feedback force.
Force feedback component IV includes：Scissors handle 311, handle drives motor 310, action bars 312, sleeve 314, ball bearing
313rd, yielding coupling 318, action bars motor 315, electric motor end cap 316, wherein handle drives motor 310 are fixed on scissors
On handle 311, the output shaft of handle drives motor 310 is rotated, scissors handle 311 and action bars with the folding of scissors handle 311
312 are fixedly connected, and action bars 312 is fixed in sleeve 314 by ball bearing 313, and the other end of action bars 312 is joined by elasticity
Axle device 318 is connected with the output shaft of action bars motor 315, and action bars motor 315 is fixed on set by electric motor end cap 316
In cylinder 314, electric motor end cap 316 uses mode connects for screw with sleeve 314.Handle drives motor 310 and action bars motor 315 it is defeated
Shaft connection speed, position sensor.
Illustrate a kind of action implementation process for the force feedback apparatus that can be extended to seven freedom below.
When constituting four-degree-of-freedom force feedback apparatus：Action bars 116 is around waling stripe 104（Or waling stripe 107）Rotate
When, drive waling stripe 104（Or waling stripe 107）Rotate, pass through little gear 102（Or little gear 105）Drive motor
108（Or motor 110）Rotate, controller receives waling stripe 104（Or waling stripe 107）Position, velocity of rotation letter
Number and the signal of reception is handled, then controller sends control signal controlled motor and produces the output of corresponding torque, real
The now force feedback of the posture.
When action bars 116 is around own rotation, motor 120 is driven to rotate by yielding coupling 119, controller is received
Position, velocity of rotation signal and the signal to reception of action bars 116 are handled, and then controller sends control signal control
Motor produces corresponding torque output, realizes the force feedback of the posture.
When action bars 116 is axially moveable, band moving sleeve 115 is axially moveable, and is driven and driven by the axial movement of sleeve 115
The rotation of dynamic motor 109, controller receives the velocity of rotation signal of motor 109 and the signal to reception is handled, then
Controller sends control signal controlled motor and produces corresponding torque output, realizes the force feedback of the posture.
When constituting seven freedom force feedback apparatus：Action bars 312 is axial along waling stripe 104（Or the axle of waling stripe 107
To）When mobile, action bars 116 is driven to be axially moveable while action bars 116 is around waling stripe 107（Or waling stripe 104）Turn
It is dynamic, motor 110 is driven by gear（Or motor 108）Rotate, controller receives waling stripe 107（Or level connects
Bar 104）Position, velocity of rotation signal and the signal to reception handle, then controller send control signal control electricity
Machine produces corresponding torque output, realizes the force feedback of the posture.
Action bars 312 along action bars 116 move axially when, drive action bars 116 to move axially, band moving sleeve 115 is along axle
To movement, motor 109 is driven to rotate by the axial movement of sleeve, controller receives the velocity of rotation letter of motor 109
Number and the signal of reception is handled, then controller sends control signal controlled motor and produces the output of corresponding torque, real
The now force feedback of the posture.
Action bars 312 around action bars 116 rotate when, drive action bars 116 rotate, pass through yielding coupling 119 drive drive
Dynamic motor 120 is rotated, and controller receives the position of action bars 116, velocity of rotation signal and the signal to reception and handled, then
Controller sends control signal controlled motor and produces corresponding torque output, realizes the force feedback of the posture.
When action bars 312 is around ball pair rotation, ball subframe 305 is rotated around spheroid 301, passes through the control ball subframe 305 of slide plate 302
With 301 pressure sizes of spheroid, frictional force size is controlled by pressure, the force feedback of the posture is realized.
When action bars 312 is around own rotation, drive action bars motor 315 to rotate by yielding coupling 318, control
Device receives the position of action bars 312, velocity of rotation signal and the signal to reception and handled, and then controller sends control signal
Controlled motor produces corresponding torque output, realizes the force feedback of the posture.
Claims (9)
1. a kind of force feedback apparatus that can be extended to seven freedom, including：Four-degree-of-freedom device for force feedback, free degree extension dress
Put, handle, it is characterised in that four-degree-of-freedom device for force feedback be threadably secured with handle is connected composition four-degree-of-freedom force feedback
Apparatus, described four-degree-of-freedom device for force feedback be threadably secured with free degree expanding unit be connected composition seven freedom power it is anti-
Present apparatus.
2. included according to four-degree-of-freedom device for force feedback according to claim 1：Support, force feedback component I, force feedback group
Part II, force feedback component III, it is characterised in that waling stripe one end in force feedback component I is connected by bearing with support, separately
One end is connected with force feedback component II by revolute pair, and the sleeve of force feedback component III passes through support block in force feedback component II
Hole, and coordinate with friction pulley squeezed tight.
3. included according to free degree expanding unit according to claim 1：Novel ball pair support frame, motor, motor
Fixed mount, turbine group, worm screw, force feedback component IV, it is characterised in that motor is fixed on novel ball by motor fixing frame
On secondary support frame, described driving motor output shaft is fixedly connected with worm screw, and described worm screw is connected with turbine group with gear, institute
The turbine group stated is fixed on the secondary support frame of novel ball by screw, and force feedback component IV passes through the secondary support frame of described novel ball
Hole is fixedly connected.
4. force feedback component I includes according to claim 2：Motor, little gear, gear wheel, waling stripe, its feature
It is, motor is fixed on survey in support, described driving motor output shaft is fixedly connected with little gear, described little gear
Engaged with gear wheel, described gear wheel is connected with waling stripe by axle.
5. force feedback component II includes according to claim 2：Support block, motor, friction pulley, it is characterised in that drive
Dynamic motor is fixedly connected in support block by screw, and described driving motor output shaft is fixedly connected with friction pulley, described
The sleeve squeezed tight of friction pulley and force feedback component III coordinates.
6. force feedback component III includes according to claim 2：Sleeve, ball bearing, action bars, yielding coupling, driving electricity
Machine, electric motor end cap, it is characterised in that action bars is fixed in sleeve by bearing, the described action bars other end pass through elasticity
Shaft coupling is connected with driving motor output shaft, and described motor is fixed in sleeve by electric motor end cap, described motor
End cap and sleeve mode connects for screw.
7. the secondary support frame of novel ball includes according to claim 3：Spheroid, supporting plate, bracing wire, slide plate, ball subframe, its feature
It is, spheroid is connected with supporting plate with spherical pair, described supporting plate is fixed in ball subframe, 8 are distributed in around spheroid
Slide plate is placed in spheroid groove by bracing wire, and described slide plate can be slided along groove, and the described bracing wire other end is wound in turbine
On.
8. force feedback component IV includes according to claim 3：Scissors handle, handle drives motor, action bars, sleeve, ball
Bearing, yielding coupling, action bars motor, electric motor end cap, it is characterised in that handle drives motor is fixed on scissors handle
On, described handle drives motor output shaft is rotated with the folding of scissors handle, and described scissors handle is fixed with action bars
Connection, described action bars is fixed in sleeve by ball bearing, and the described action bars other end passes through yielding coupling and behaviour
Make the connection of bar driving motor output shaft, described action bars motor is fixed in sleeve by electric motor end cap, described electricity
Generator terminal lid and sleeve mode connects for screw.
9. a kind of force feedback apparatus that can be extended to seven freedom according to claim 3 to 8, it is characterised in that described
Motor be micro servo motor or stepper motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610856122.XA CN107067921B (en) | 2016-09-28 | 2016-09-28 | A kind of force feedback apparatus that can be extended to seven freedom |
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| CN201610856122.XA CN107067921B (en) | 2016-09-28 | 2016-09-28 | A kind of force feedback apparatus that can be extended to seven freedom |
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| CN107067921A true CN107067921A (en) | 2017-08-18 |
| CN107067921B CN107067921B (en) | 2018-05-11 |
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Cited By (6)
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| CN108346338A (en) * | 2018-03-30 | 2018-07-31 | 安徽工程大学 | A kind of multiple degrees of freedom virtual surgery simulation device |
| CN108346336A (en) * | 2018-03-29 | 2018-07-31 | 安徽工程大学 | A kind of teaching aid for laparoscopic surgery training |
| CN108814729A (en) * | 2018-03-30 | 2018-11-16 | 安徽工程大学 | A kind of various dimensions operation handle |
| CN112497234A (en) * | 2020-12-04 | 2021-03-16 | 沈阳通用机器人技术股份有限公司 | Four-axis force feedback handle and pose mapping method thereof |
| CN113012516A (en) * | 2021-03-11 | 2021-06-22 | 东南大学 | Three-freedom-degree force feedback handle comprising two vertically staggered shafts |
| CN113103263A (en) * | 2021-04-08 | 2021-07-13 | 南京航空航天大学 | Three-degree-of-freedom rotary hand controller and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108346336A (en) * | 2018-03-29 | 2018-07-31 | 安徽工程大学 | A kind of teaching aid for laparoscopic surgery training |
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| CN108814729A (en) * | 2018-03-30 | 2018-11-16 | 安徽工程大学 | A kind of various dimensions operation handle |
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| CN112497234A (en) * | 2020-12-04 | 2021-03-16 | 沈阳通用机器人技术股份有限公司 | Four-axis force feedback handle and pose mapping method thereof |
| CN112497234B (en) * | 2020-12-04 | 2024-02-02 | 沈阳通用机器人技术股份有限公司 | Four-axis force feedback handle and pose mapping method thereof |
| CN113012516A (en) * | 2021-03-11 | 2021-06-22 | 东南大学 | Three-freedom-degree force feedback handle comprising two vertically staggered shafts |
| CN113012516B (en) * | 2021-03-11 | 2022-12-20 | 东南大学 | Three-freedom-degree force feedback handle comprising two vertically-staggered shafts |
| CN113103263A (en) * | 2021-04-08 | 2021-07-13 | 南京航空航天大学 | Three-degree-of-freedom rotary hand controller and control method thereof |
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|---|---|
| CN107067921B (en) | 2018-05-11 |
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