CN108346336A - A kind of teaching aid for laparoscopic surgery training - Google Patents
A kind of teaching aid for laparoscopic surgery training Download PDFInfo
- Publication number
- CN108346336A CN108346336A CN201810273631.9A CN201810273631A CN108346336A CN 108346336 A CN108346336 A CN 108346336A CN 201810273631 A CN201810273631 A CN 201810273631A CN 108346336 A CN108346336 A CN 108346336A
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- force feedback
- feedback motor
- axis
- motor
- holder
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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
- G09B9/00—Simulators for teaching or training purposes
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- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Instructional Devices (AREA)
Abstract
The present invention discloses a kind of teaching aid for laparoscopic surgery training, it is related to medical training device technical field, including virtual operation computer, it further include teaching aid ontology, the teaching aid ontology includes pedestal, litter and axis two, it is additionally provided at the top of the pedestal and horizontally rotates translation feedback device, vertical plane rotation feedback device is additionally provided at the top of the litter, the top of the axis two is additionally provided with handle device for force feedback, it is described horizontally rotate translation feedback device include force feedback motor one and force feedback motor two, the vertical plane rotation feedback device includes force feedback motor three and force feedback motor four, the handle device for force feedback includes force feedback motor five and force feedback motor six.The present invention can make intern experience the force feedback in five degree of freedom, increase the sense of reality of surgical procedure, which can repeat ceaselessly to use, and intern has been helped to obtain clinical operation experience in a short time.
Description
Technical field
The present invention relates to medical training device technical field, more particularly to a kind of teaching aids for laparoscopic surgery training.
Background technology
Laparoscopic surgery is the invasive methods that a new development is got up, and is that one of the following operation method development necessarily becomes
Gesture.With advancing by leaps and bounds for industrial manufacturing technology, be fused to carry out new technology, the new method of related discipline have established firm base
Plinth, in addition the operation that doctor is more and more consummate so that many past open operations have been replaced by intracavity operation now,
Considerably increase surgical selection chance.Laparoscopic surgery conventional method is the small notch for making three 1 centimetre in patient's waist, each to insert
Enter a pipe-like service aisle for being called " trocar ", later every operation is carried out by these three pipelines；Again with special
Lengthening surgical instrument the step same as open surgery is completed under television monitoring, reach same surgical effect.
The characteristics of due to laparoscopic surgery so that more stringent requirements are proposed for technical ability of the laparoscopic surgery to doctor so that
Doctor will often pass through the repetition training of longer time and can be only achieved skilled degree, therefore needle when learning laparoscopic surgery
To the process of laparoscopic surgery, Surgery simulation scene and operating procedure may be used, targetedly carry out virtual operation
Simulation training can help intern to obtain clinical operation experience in a short time, reduce intern and grow into a conjunction
The time of lattice doctor.
Invention content
The purpose of the present invention is to provide a kind of teaching aids for laparoscopic surgery training, to solve to cause in the prior art
The above-mentioned defects.
A kind of teaching aid for laparoscopic surgery training, including virtual operation computer, further include teaching aid ontology, the teaching aid
Ontology includes pedestal, and the top of the pedestal, which is equipped with, horizontally rotates translation feedback device, described to horizontally rotate translation feedback device
Top be equipped with vertical plane and rotate feedback device, be equipped with handle device for force feedback, institute above vertical plane rotation feedback device
State that horizontally rotate translation feedback device include force feedback motor one and force feedback motor two, the vertical plane rotates feedback device packet
Force feedback motor three and force feedback motor four are included, the handle device for force feedback includes force feedback motor five and force feedback motor
Six, the virtual operation computer respectively with force feedback motor one, force feedback motor two, force feedback motor three, force feedback motor four
Force feedback motor five and force feedback motor six are electrically connected.
Preferably, it is described horizontally rotate translation feedback device further include rotary column, turntable, holder one, holder two, litter and axis
One, the rotary column is fixedly connected on the top of pedestal, and the turntable is rotatably connected with rotary column, the edge of the turntable with
The gear that force feedback motor one is equipped with meshes together, and the holder one and force feedback motor two are fixedly connected on the top of turntable
Portion, the litter are fixedly connected between two holders one, and the litter is equipped with two, and the holder two is slidably connected with litter
Together, the axis one is rotatably connected between two holders two, and the lower end of the holder two is additionally provided with rack one, the holder
Two gears being equipped with force feedback motor two by rack one are connected with a joggle togather.
Preferably, the vertical plane rotation feedback device further includes fixed seat, holder three and axis two, the force feedback motor
Three are fixedly connected on the side of holder two, are also equipped with gear one on the axis one, the gear one on force feedback motor three
The gear being equipped with meshes together, and the fixed seat is fixed together with axis one, and the holder three is fixedly connected on fixation
The top of seat, the axis two are rotatably connected between two holders three, and one end of the axis two is also fixedly connected with gear two, institute
It states the gear that gear two is equipped with force feedback motor four to be connected with a joggle togather, the axis one is mutual in the horizontal plane with axis two
Vertically.
Preferably, the handle device for force feedback further includes connecting seat, connector and handle, and the connecting seat is slided with handle
Dynamic to link together, the force feedback motor six is fixedly connected on the surface of connecting seat, the upper half surface of the handle periphery
Equipped with arc double wedge, lower half surface is equipped with bar shaped double wedge, the top slide connection of the connector and connecting seat, the connector
Bottom be equipped with the arc groove that matches with arc double wedge, the rack and force feedback motor that the connector is equipped with by top
Five gears being equipped with mesh together, and the handle is engaged on by the gear that bar shaped double wedge is equipped with force feedback motor six
Together, the handle is mutually perpendicular in the horizontal plane with axis two.
Preferably, between the axis one and holder two fastener is additionally provided between axis two and holder three.
Preferably, the side of the pedestal is also equipped with horizontal bubble instrument.
The beneficial effects of the invention are as follows：The present invention realizes force feedback function of the handle in five degree of freedom, can make
Intern experiences the force feedback in five degree of freedom, increases the sense of reality of surgical procedure, which can repeat not stop
Use, helped intern to obtain clinical operation experience in a short time.
Description of the drawings
Fig. 1 is the front view of the present invention；
Fig. 2 is the left view of the present invention；
Fig. 3 is the handle sectional view of the present invention.
Wherein, 1- pedestals, 2- force feedbacks motor one, 3- turntables, 4- holders one, 5- litter, 6- holders two, 7- fixed seats,
8- force feedbacks motor four, 9- gears two, 10- holders three, 11- connectors, 12- force feedbacks motor five, 13- connecting seats, 14- hands
Handle, 15- axis one, 16- force feedbacks motor two, 17- rotary columns, 18- force feedbacks motor three, 19- gears one, 20- horizontal bubble instrument,
21- axis two, 22- bar shaped double wedges, 23- arc double wedges, 24- force feedbacks motor six.
Specific implementation mode
Below by the description to embodiment, the shape of for example involved each component of specific implementation mode of the invention, structure
It makes, the mutual alignment between each section and connection relation, the effect of each section and operation principle, manufacturing process and the side of operating with
Method etc., is described in further detail, completeer to help those skilled in the art to have the inventive concept of the present invention, technical solution
Whole, accurate and deep understanding.
As shown in Figure 1 to Figure 3, a kind of teaching aid for laparoscopic surgery training, including virtual operation computer (are not drawn in figure
Go out), further include teaching aid ontology, the teaching aid ontology includes pedestal 1, and the top of the pedestal 1, which is equipped with, horizontally rotates translation feedback
Device, the top for horizontally rotating translation feedback device are equipped with vertical plane and rotate feedback device, the vertical plane rotation feedback
It is equipped with handle device for force feedback above device, described to horizontally rotate translation feedback device include force feedback motor 1 and force feedback
Motor 2 16, the vertical plane rotation feedback device includes force feedback motor 3 18 and force feedback motor 48, and the handle power is anti-
Feedback device includes force feedback motor 5 12 and force feedback motor 6 24, the virtual operation computer respectively with force feedback motor 1,
Force feedback motor 2 16, force feedback motor 3 18,48 force feedback motor 5 12 of force feedback motor and force feedback motor 6 24 are electrical
Connection.When each force feedback motor work, the sensor being equipped in motor obtains not according to the amount of spin size of rotation axis
Same signal, and these signals are transmitted on virtual operation computer, these signals of virtual operation computer for analysis are simultaneously handled
It retransmits in force feedback signal to each force feedback motor.
In the present embodiment, it is described horizontally rotate translation feedback device further include rotary column 17, turntable 3, holder 1, holder
26, litter 5 and axis 1, the rotary column 17 are fixedly connected on the top of pedestal 1, and the turntable 3 is rotatably connected on rotary column 17
Together, the gear that the edge of the turntable 3 is equipped with force feedback motor 1 meshes together, the holder 1 and force feedback
Motor 2 16 is fixedly connected on the top of turntable, and the litter 5 is fixedly connected between two holders 1, and the litter 5 is equipped with
Two, the holder 26 is slidably connected together with litter 5, and the axis 1 is rotatably connected between two holders 26, institute
The lower end for stating holder 26 is additionally provided with rack one, the gear that the holder 26 is equipped with by rack one and force feedback motor 2 16
It is connected with a joggle togather.
In the present embodiment, the vertical plane rotation feedback device further includes fixed seat 7, holder 3 10 and axis 2 21, institute
The side that force feedback motor 3 18 is fixedly connected on holder 26 is stated, gear 1, the gear are also equipped on the axis 1
One 19 gears being equipped with force feedback motor 3 18 mesh together, and the fixed seat 7 is fixed together with axis 1,
The holder 3 10 is fixedly connected on the top of fixed seat 7, and the axis 2 21 is rotatably connected between two holders 3 10, described
One end of axis 2 21 is also fixedly connected with gear 29, and the gear 29 engages company with the gear that force feedback motor 48 is equipped with
It is connected together, the axis 1 is mutually perpendicular in the horizontal plane with axis 2 21.
In the present embodiment, the handle device for force feedback further includes connecting seat 13, connector 11 and handle 14, the company
Joint chair 13 is slidably connected together with handle 14, and the force feedback motor 6 24 is fixedly connected on the surface of connecting seat 13, described
The upper half surface of 14 periphery of handle is equipped with arc double wedge 23, and lower half surface is equipped with bar shaped double wedge 22, the connector 11 and company
The top slide of joint chair 13 connects, and the bottom of the connector 11 is equipped with the arc groove to match with arc double wedge 23, described
The gear that the rack that connector 11 is equipped with by top is equipped with force feedback motor 5 12 meshes together, and the handle 14 is logical
It crosses the gear that bar shaped double wedge 22 is equipped with force feedback motor 6 24 to mesh together, the handle 14 is with axis 2 21 in horizontal plane
On be mutually perpendicular to.
In the present embodiment, fastening is additionally provided between the axis 1 and holder 26 between axis 2 21 and holder 3 10
Part.When teaching aid can prevent axis 1 and axis 2 21 from rotating by upper tightly part when not in use, fastener can be fastening bolt.
In addition, the side of the pedestal 1 is also equipped with horizontal bubble instrument 20.For detect that entire teaching aid puts whether water
It is flat, it avoids because the injustice that teaching aid is put leads to the error of force feedback.
Based on above-mentioned, the present invention using when handle realized by the connection relation of turntable 3 and force feedback motor 1
The function of force feedback when 14 horizontal directions rotate is slided on litter 5 by holder 26 and force feedback motor 2 16 is worked,
Realize force feedback function when handle 14 moves in the horizontal direction, when swing in the vertical direction handle 14 when make axis
One 15 rotation driven gears 1 rotate so that force feedback motor 3 18 works, and the power realized when handle 14 swings is anti-
Function is presented, is rotated with moving axis 2 21 so that the gear 29 on axis 2 21 is followed when 14 swing in the vertical direction of handle
Rotation realizes force feedback function when 14 swing of handle, before and after handle 14 to make force feedback motor 48 work
It when mobile, drives force feedback motor 5 12 to work by rack 2 11, realizes force feedback function when handle 14 is moved forward and backward,
It when handle 14 rotates, drives force feedback motor 6 24 to work by bar shaped double wedge 22, realizes when handle 14 rotates
Force feedback function, the movement of handle 14 in all directions drive corresponding force feedback motor to work, the sensing being equipped in motor
Device obtains different signals according to the amount of spin size of rotation axis, and these signals are transmitted on virtual operation computer, virtually
Operation these signals of computer for analysis and carry out processing retransmit in force feedback signal to each force feedback motor.
The present invention is exemplarily described above in conjunction with embodiment, it is clear that the present invention implements not by above-mentioned side
The limitation of formula, if the improvement of the various unsubstantialities of inventive concept and technical scheme of the present invention progress is used, or without
It improves and the design of the present invention and technical solution is directly applied into other occasions, within protection scope of the present invention.This
The protection domain of invention should be determined by the scope of protection defined in the claims.
Claims (6)
1. a kind of teaching aid for laparoscopic surgery training, including virtual operation computer, which is characterized in that further include teaching aid sheet
Body, the teaching aid ontology include pedestal (1), and the top of the pedestal (1), which is equipped with, horizontally rotates translation feedback device, the level
The top of rotational translation feedback device is equipped with vertical plane and rotates feedback device, and hand is equipped with above the vertical plane rotation feedback device
Handle device for force feedback, it is described horizontally rotate translation feedback device include force feedback motor one (2) and force feedback motor two (16), institute
It includes force feedback motor three (18) and force feedback motor four (8), the handle device for force feedback to state vertical plane rotation feedback device
Including force feedback motor five (12) and force feedback motor six (24), the virtual operation computer respectively with force feedback motor one (2),
Force feedback motor two (16), force feedback motor three (18), force feedback motor four (8) force feedback motor five (12) and force feedback motor
Six (24) are electrically connected.
2. the teaching aid of laparoscopic surgery training according to claim 1, it is characterised in that：It is described to horizontally rotate translation feedback
Device further includes rotary column (17), turntable (3), holder one (4), holder two (6), litter (5) and axis one (15), the rotary column (17)
It is fixedly connected on the top of pedestal (1), the turntable (3) is rotatably connected with rotary column (17), the edge of the turntable (3)
The gear being equipped with force feedback motor one (2) meshes together, the holder one (4) and the fixed company of force feedback motor two (16)
It is connected on the top of turntable, the litter (5) is fixedly connected between two holders one (4), and the litter (5) is equipped with two, institute
It states holder two (6) to be slidably connected together with litter (5), the axis one (15) is rotatably connected between two holders two (6), institute
The lower end for stating holder two (6) is additionally provided with rack one, and the holder two (6) is equipped with by rack one and force feedback motor two (16)
Gear be connected with a joggle togather.
3. the teaching aid of laparoscopic surgery training according to claim 2, it is characterised in that：The vertical plane rotation feedback dress
It further includes fixed seat (7), holder three (10) and axis two (21) to set, and the force feedback motor three (18) is fixedly connected on holder two
(6) side, is also equipped with gear one (19) on the axis one (15), the gear one (19) on force feedback motor three (18)
The gear being equipped with meshes together, and the fixed seat (7) is fixed together with axis one (15), and the holder three (10) is fixed
It is connected to the top of fixed seat (7), the axis two (21) is rotatably connected between two holders three (10), the axis two (21)
One end is also fixedly connected with gear two (9), and the gear two (9) engages connection with the gear that force feedback motor four (8) is equipped with
Together, the axis one (15) is mutually perpendicular in the horizontal plane with axis two (21).
4. the teaching aid of laparoscopic surgery training according to claim 1, it is characterised in that：The handle device for force feedback is also
Including connecting seat (13), connector (11) and handle (14), the connecting seat (13) is slidably connected together with handle (14), institute
The surface that force feedback motor six (24) is fixedly connected on connecting seat (13) is stated, the upper half surface of handle (14) periphery is equipped with
Arc double wedge (23), lower half surface are equipped with bar shaped double wedge (22), and the connector (11) and the top slide of connecting seat (13) connect
It connects, the bottom of the connector (11) is equipped with the arc groove to match with arc double wedge (23), and the connector (11) passes through
The gear that the rack that top is equipped with is equipped with force feedback motor five (12) meshes together, and the handle (14) is convex by bar shaped
The gear that tooth (22) is equipped with force feedback motor six (24) meshes together, and the handle (14) is with axis two (21) in horizontal plane
On be mutually perpendicular to.
5. the teaching aid of laparoscopic surgery training according to claim 3, it is characterised in that：The axis one (15) and holder two
(6) between fastener is additionally provided between axis two (21) and holder three (10).
6. the teaching aid of laparoscopic surgery training according to claim 1, it is characterised in that：The side of the pedestal (1) is also
Horizontal bubble instrument (20) is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810273631.9A CN108346336A (en) | 2018-03-29 | 2018-03-29 | A kind of teaching aid for laparoscopic surgery training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810273631.9A CN108346336A (en) | 2018-03-29 | 2018-03-29 | A kind of teaching aid for laparoscopic surgery training |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108346336A true CN108346336A (en) | 2018-07-31 |
Family
ID=62957246
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810273631.9A Pending CN108346336A (en) | 2018-03-29 | 2018-03-29 | A kind of teaching aid for laparoscopic surgery training |
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| Country | Link |
|---|---|
| CN (1) | CN108346336A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113012516A (en) * | 2021-03-11 | 2021-06-22 | 东南大学 | Three-freedom-degree force feedback handle comprising two vertically staggered shafts |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101261781A (en) * | 2008-05-08 | 2008-09-10 | 上海交通大学 | Five-degree force feedback virtual operation instrument |
| CN103456223A (en) * | 2012-06-01 | 2013-12-18 | 苏州敏行医学信息技术有限公司 | Laparoscopic surgery simulation system based on force feedback |
| CN103632595A (en) * | 2013-12-06 | 2014-03-12 | 合肥德易电子有限公司 | Medical education training system of multiple intracavity therapeutic endoscopic surgeries |
| KR101401462B1 (en) * | 2012-05-17 | 2014-05-30 | 주식회사 엔티리서치 | Surgery training simulator using force sensor and control method thereof |
| CN107067921A (en) * | 2016-09-28 | 2017-08-18 | 哈尔滨理工大学 | A kind of force feedback apparatus that can be extended to seven freedom |
-
2018
- 2018-03-29 CN CN201810273631.9A patent/CN108346336A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101261781A (en) * | 2008-05-08 | 2008-09-10 | 上海交通大学 | Five-degree force feedback virtual operation instrument |
| KR101401462B1 (en) * | 2012-05-17 | 2014-05-30 | 주식회사 엔티리서치 | Surgery training simulator using force sensor and control method thereof |
| CN103456223A (en) * | 2012-06-01 | 2013-12-18 | 苏州敏行医学信息技术有限公司 | Laparoscopic surgery simulation system based on force feedback |
| CN103632595A (en) * | 2013-12-06 | 2014-03-12 | 合肥德易电子有限公司 | Medical education training system of multiple intracavity therapeutic endoscopic surgeries |
| CN107067921A (en) * | 2016-09-28 | 2017-08-18 | 哈尔滨理工大学 | A kind of force feedback apparatus that can be extended to seven freedom |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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Application publication date: 20180731 |