CN109620413B - Force feedback device and lung puncture robot - Google Patents
Force feedback device and lung puncture robot Download PDFInfo
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- CN109620413B CN109620413B CN201910055477.2A CN201910055477A CN109620413B CN 109620413 B CN109620413 B CN 109620413B CN 201910055477 A CN201910055477 A CN 201910055477A CN 109620413 B CN109620413 B CN 109620413B
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- 210000004072 lung Anatomy 0.000 title claims abstract description 10
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 230000001681 protective effect Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 4
- 230000004044 response Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 8
- 230000003044 adaptive effect Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The application discloses a force feedback device and a lung puncture robot, wherein the force feedback device is provided with a linear guide rail, a spring supporting seat plate, a pressure spring, an operation rod and a fixing frame; the linear guide rail is arranged between the baffle plate at the top end of the fixing frame and the supporting table below the fixing frame; the spring support seat board is fixedly arranged on the linear guide rail; the operating rod is arranged above the baffle plate and is elastically connected with the spring support seat plate through the pressure spring. The force feedback of the operating rod is realized by combining the linear guide rail and the pressure spring; meanwhile, the force feedback device can realize the following movement of the operated mechanical arm, thereby establishing the purpose of associating the positions of the operating end and the driven end with the force, and further realizing the technical effects that the component senses the existence of the feedback force in a larger range and improving the response accuracy and instantaneity.
Description
Technical Field
The application relates to the technical field of force feedback, in particular to a force feedback device and a lung puncture robot.
Background
The force feedback device represents an innovation in man-machine contact interaction technology, a computer user can only interact with the force feedback device through vision, obviously touch is not added as the most important sensing mode of many application occasions, the appearance of the six-degree-of-freedom force feedback device changes everything, just like a display can enable the user to see a computer-generated image, a loudspeaker can enable the user to hear synthesized sounds of the computer, and the force feedback device enables the user to contact and operate a virtual object generated by the computer.
The force feedback device adopted in the current market has the defects of small movement range and low precision; and the response accuracy and real-time performance are poor. Meanwhile, the force feedback device in the related art cannot realize the following movement of the operated mechanical arm, so that the correlation between the positions of the operating end and the driven end and the force cannot be established.
For many problems existing in the related art, no effective solution has been proposed at present.
Disclosure of Invention
The application mainly aims to provide a force feedback device with good accuracy and real-time performance and a lung puncture robot, so as to solve the problems of small movement range and low precision of the force feedback device in the related technology.
In order to achieve the above object, according to one aspect of the present application, a force feedback device is provided.
The force feedback device according to the present application comprises:
the device comprises a linear guide rail, a spring support seat board, a pressure spring, an operation rod and a fixing frame;
the linear guide rail is arranged between the baffle plate at the top end of the fixing frame and the supporting table below the fixing frame;
the spring support seat board is fixedly arranged on the linear guide rail;
the operating rod is arranged above the baffle plate and is elastically connected with the spring support seat plate through the pressure spring.
Further, as in the force feedback device described above, the operating lever is connected to the baffle plate through a linear bearing; the linear bearing of the operating rod sequentially penetrates through the baffle plate, the pressure spring and the bottom plate of the spring supporting seat plate, and the pressure spring is fixedly arranged between the baffle plate and the bottom plate.
Further, in the force feedback device, a ring of stop ring is disposed on the operating rod below the baffle, and the diameter of the stop ring is larger than that of the pressure spring, so that the pressure spring is fixedly disposed between the stop ring and the bottom plate.
Further, as the force feedback device, the linear guide rail includes: the screw rod and the vertical movable plate;
the vertical movable plate is clamped on the sliding rail of the fixed frame and can vertically slide on the fixed frame;
the screw rod is in driving connection with the vertical movable plate and is used for converting the rotary motion of the screw rod into the vertical motion of the vertical movable plate;
the spring support seat board is fixedly arranged on the vertical movable board.
Further, in the force feedback device, the screw is provided with a thread on the surface of the screw, and the vertical movable plate is movably connected with the screw through a gear meshed with the thread on the back surface.
Further, in the force feedback device, the sliding connection parts of the sliding rail and the vertical movable plate are respectively provided with a clamping structure which is mutually matched; the clamping structure is as follows: grooves and protrusions.
Further, the force feedback device as described above further comprises: a motor and a coupling;
the motor is in driving connection with one end of the coupler;
the other end of the coupler is in driving connection with the screw rod and used for driving the screw rod to rotate.
Further, as in the force feedback device described above, the coupling is disposed within the support platform; the motor is arranged at the bottom of the supporting table.
Further, as in the force feedback device described above, the support table surface is covered with a protective housing for protecting the coupling.
To achieve the above object, according to another aspect of the present application, there is provided a lung piercing robot comprising a force feedback device as described in any of the preceding claims.
In the embodiment of the application, a force feedback device and a lung puncture robot are adopted, wherein the force feedback device is provided with a linear guide rail, a spring support seat plate, a pressure spring, an operation rod and a fixing frame; the linear guide rail is arranged between the baffle plate at the top end of the fixing frame and the supporting table below the fixing frame; the spring support seat board is fixedly arranged on the linear guide rail; the operating rod is arranged above the baffle plate and is elastically connected with the spring support seat plate through the pressure spring. The force feedback of the operating rod is realized by combining the linear guide rail and the pressure spring; meanwhile, the force feedback device can realize the following movement of the operated mechanical arm, thereby establishing the aim of associating the positions of the operating end and the driven end with the force, and realizing the technical effects of realizing that the component can feel the existence of the feedback force in a larger range and improving the response accuracy and instantaneity.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application, are incorporated in and constitute a part of this specification. The drawings and their description are illustrative of the application and are not to be construed as unduly limiting the application. In the drawings:
FIG. 1 is a schematic diagram of the overall structure of a force feedback device according to one embodiment of the application;
fig. 2 is a schematic view of a part of a force feedback device according to an embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the application herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the present application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are only used to better describe the present application and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations.
Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the present application will be understood by those of ordinary skill in the art according to the specific circumstances.
Furthermore, the terms "mounted," "configured," "provided," "connected," "coupled," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
As shown in fig. 1, the present application relates to a force feedback device comprising:
the linear guide rail 1, the spring support seat board 2, the pressure spring 3, the operating rod 4 and the fixing frame 5;
the linear guide rail 1 is arranged between a baffle plate 51 at the top end of the fixed frame 5 and a supporting table 52 below the baffle plate;
specifically, the fixing frame 5 includes the baffle plate 51, a support table 52, and a structure for connecting the baffle plate and the support table; the middle part thus constitutes a recess; the linear guide rail 1 is arranged in the groove; the length direction of the linear guide rail is consistent with the operable direction of the operation rod 4;
the spring support seat board 2 is fixedly arranged on the linear guide rail 1;
preferably, the spring support seat plate 2 is L-shaped; the vertical plane is fixedly connected with the linear guide rail 1, and the movement direction of the spring support seat plate 2 on the linear guide rail 1 is consistent with the operable direction of the operating rod 4;
the operating rod 4 is arranged above the baffle plate 51 and is elastically connected with the spring support seat plate 2 through the pressure spring 3;
in general, the length direction (i.e. the compression direction) of the pressure spring 3 is consistent with the operation direction of the operation rod 4, and the pressure spring 3 can be sleeved outside the fixing rod or in an adaptive cylinder, so that the purpose of limiting the movement direction of the pressure spring 3 can be achieved.
Therefore, the force feedback to the operating rod is realized by combining the linear guide rail and the pressure spring; meanwhile, the force feedback device can realize the following movement of the operated mechanical arm, thereby establishing the aim of associating the positions of the operating end and the driven end with the force, and realizing the technical effects of realizing that the component can feel the existence of the feedback force in a larger range and improving the response accuracy and instantaneity.
As shown in fig. 1, in some embodiments, the lever 4 is connected to the baffle 51 by a linear bearing 41, as in the force feedback device described above; the operation rod 4 sequentially passes through the baffle plate 51, the pressure spring 3 and the bottom plate 21 of the spring support seat plate 2, and fixedly locates the pressure spring 3 between the baffle plate 51 and the bottom plate 21; a circle of baffle ring 42 is arranged on the operating rod 4 below the baffle plate 51, and the diameter of the baffle ring 42 is larger than that of the pressure spring 3, so that the pressure spring 3 is fixedly arranged between the baffle ring 42 and the bottom plate 21;
specifically, since the general pressure spring 3 is cylindrical, the portion of the operating rod 4 embedded in the pressure spring 3 is also cylindrical, and the baffle plate 51 is provided with a round hole adapted to the linear bearing 41, and the linear bearing 41 and the bottom plate 21 are provided with round holes adapted to the operating rod 4, so that the operating rod 4 can move in a linear direction defined by the round holes on the linear bearing 41 and the round holes on the bottom plate 21; since the pressure spring 3 is sleeved on a part of the rod body of the operating rod 4 below the baffle plate 51, and the top end position of the pressure spring 3 is limited by the baffle ring 42 and the bottom end position is limited by the bottom plate 21, the pressure spring 3 is driven to compress along with the movement of the operating rod 4, and a reverse force feedback is provided for a force applying person.
As shown in fig. 1 and 2, in some embodiments, the linear guide 1 includes: a screw 11 and a vertical movable plate 12;
the vertical movable plate 12 is clamped on a sliding rail 53 of the fixed frame 5 and can vertically slide on the sliding rail 5;
the screw rod 11 is in driving connection with the vertical movable plate 12 and is used for converting the rotary motion of the screw rod 11 into the vertical motion of the vertical movable plate 12;
the spring support seat board 2 is fixedly arranged on the vertical movable board 12.
Specifically, the sliding rail 53 is disposed between the baffle plate 51 and the support table 52; the screw rod 11 is axially rotatably arranged between the baffle plate 51 and the supporting table 52, and a certain motion conversion device is used between the screw rod 11 and the vertical movable plate 12 to convert the rotary motion into the vertical motion of the vertical movable plate 12; preferably, the vertical movable plate 12 and the spring support seat plate 2 are provided with adaptive screw holes for fixing the spring support seat plate 2 on the vertical movable plate 12 through bolts.
In some embodiments, as shown in fig. 1, the screw 11 is provided with threads (not shown) on the surface, and the vertical movable plate 12 is movably connected to the screw 11 by a gear engaged with the threads on the back surface. Through threaded connection, make the fixed mode of both more stable, and this type of lead screw 11 draw materials extensively, manufacturing cost is lower, more easily uses widely.
As shown in fig. 1 and 2, in some embodiments, as in the force feedback device described above, the sliding connection between the sliding rail 53 and the vertical movable plate 12 is respectively provided with a clamping structure that is mutually adapted; the clamping structure is as follows: grooves and protrusions. Specifically, the edge of the sliding rail 53 may be in a groove shape, and the vertical movable plate 12 is provided with an adapted protruding portion; the edge of the sliding rail 53 can be in a protruding shape, and the vertical movable plate 12 is provided with an adaptive groove; as long as the two can be clamped with each other, when the screw 11 rotates, the vertical movable plate 12 will not rotate and will move up and down along the screw under the limitation of the sliding rail 53, and at the same time.
As shown in fig. 2, in some embodiments, the force feedback device as described above further comprises: a motor 6 and a coupling 7;
the motor 6 is in driving connection with one end of the coupler 7;
the other end of the coupler 7 is in driving connection with the screw rod 11 and is used for driving the screw rod 11 to rotate.
Specifically, when in use, the torque value required to be output by the motor 6 can be calculated and transmitted to the motor 6 after the actual force is collected and then processed by a single chip microcomputer and other computing equipment, and the motor 6 rotates and then drives the coupler 7 and the screw rod 11 to rotate in sequence; the method is simple in implementation, and can apply corresponding reaction force according to specific collected force, so that an operator can sense force feedback more accurately and truly.
As shown in fig. 2, in some embodiments, the coupling 7 is disposed within the support base 52 as described above for the force feedback device; the motor 6 is provided at the bottom of the support base 52.
Because the motor is the only device that needs to carry out the electricity in this device structure, consequently through this structure setting, more convenient carry out circuit design to it, can reduce as far as possible through other devices when the wiring to and when the motor breaks down, also can conveniently maintain it.
As shown in fig. 1, in some embodiments, the support table 52 is surface-coated with a protective housing 54 for protecting the coupling 7, as in the force feedback device described above.
Because the shaft coupling 7 all has other parts through the hub connection around, consequently, when it is collided by other articles unexpected emergence such as, will lead to the damage extremely easily, and then lead to the unable normal operating of whole device, consequently, through setting up the protective housing 54 can effectively prevent this kind of unexpected emergence, the most easy part that takes place to damage in the guarantee device, and then guarantee the normal operating use of device, improvement life.
In a further embodiment of the application, a lung piercing robot is provided comprising a force feedback device as described in any of the previous embodiments.
The working principle (working process or operation method) of the device is as follows:
when in use, the magnitude of the applied force applied to the target object is detected by a pressure detection sensor or other devices when the operation lever 4 is operated to move up and down; then, after processing by a single chip microcomputer and other computing equipment, calculating a moment value required to be output by the motor 6 and transmitting the moment value to the motor 6, and after the motor 6 rotates, sequentially driving the coupler 7 and the screw rod 11 to rotate; enabling the spring support seat plate 2 to move correspondingly; the pressure spring 3 is deformed accordingly, and a restoring force corresponding to the force applied to the target is generated, so that, for example, in the case of lung puncture, a doctor can feel a corresponding force feedback even when performing an operation by the apparatus. More beneficial to doctors to accurately perform operation.
From the above description, it can be seen that the following technical effects are achieved: the method is simple in implementation, and can apply corresponding reaction force according to specific collected force, so that an operator can sense force feedback more accurately and truly.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (7)
1. A force feedback device, comprising: the device comprises a linear guide rail (1), a spring support seat board (2), a pressure spring (3), an operating rod (4), a fixing frame (5), a motor (6) and a coupler (7);
the linear guide rail (1) is arranged between a baffle plate (51) at the top end of the fixed frame (5) and a supporting table (52) below the baffle plate;
the spring support seat board (2) is fixedly arranged on the linear guide rail (1);
the operating rod (4) is arranged above the baffle plate (51) and is elastically connected with the spring support seat plate (2) through the pressure spring (3);
wherein the operating rod (4) is connected with the baffle plate (51) through a linear bearing (41); the operating rod (4) sequentially penetrates through the baffle plate (51), the pressure spring (3) and the bottom plate (21) of the spring supporting seat plate (2), and the pressure spring (3) is fixedly arranged between the baffle plate (51) and the bottom plate (21);
the linear guide (1) comprises: a screw rod (11) and a vertical movable plate (12);
the vertical movable plate (12) is clamped on a sliding rail (53) of the fixed frame (5) and can vertically slide on the fixed frame (5);
the screw rod (11) is in driving connection with the vertical movable plate (12) and is used for converting the rotary motion of the screw rod (11) into the vertical motion of the vertical movable plate (12);
the spring support seat board (2) is fixedly arranged on the vertical movable board (12);
the motor (6) is in driving connection with one end of the coupler (7);
the other end of the coupler (7) is in driving connection with the screw rod (11) and is used for driving the screw rod (11) to rotate.
2. Force feedback device according to claim 1, characterized in that a ring of stop rings (42) is provided on the operating lever (4) below the stop plate (51), and that the diameter of the stop rings (42) is larger than the diameter of the pressure springs (3) for securing the pressure springs (3) between the stop rings (42) and the bottom plate (21).
3. Force feedback device according to claim 1, characterized in that the screw (11) is provided with a screw thread on its surface, and the vertically movable plate (12) is movably connected to the screw (11) by means of a gear wheel on the back surface, which is in engagement with the screw thread.
4. Force feedback device according to claim 1, characterized in that the sliding connection of the sliding rail (53) and the vertical movable plate (12) is provided with mutually adapted snap-in structures, respectively; the clamping structure is as follows: grooves and protrusions.
5. Force feedback device according to claim 1, characterized in that the coupling (7) is provided in the support table (52); the motor (6) is arranged at the bottom of the supporting table (52).
6. Force feedback device according to claim 1, characterized in that the support table (52) surface is covered with a protective housing (54) for protecting the coupling (7).
7. A lung piercing robot comprising a force feedback device according to any of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910055477.2A CN109620413B (en) | 2019-01-21 | 2019-01-21 | Force feedback device and lung puncture robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910055477.2A CN109620413B (en) | 2019-01-21 | 2019-01-21 | Force feedback device and lung puncture robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109620413A CN109620413A (en) | 2019-04-16 |
| CN109620413B true CN109620413B (en) | 2023-11-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910055477.2A Active CN109620413B (en) | 2019-01-21 | 2019-01-21 | Force feedback device and lung puncture robot |
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| CN (1) | CN109620413B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113208738B (en) * | 2021-04-26 | 2022-04-26 | 武汉联影智融医疗科技有限公司 | Puncture robot, master controller and force feedback puncture needle insertion controller |
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| CH695301A5 (en) * | 2001-09-03 | 2006-03-15 | Xitact Sa | Device for simulating a rod-shaped surgical endoscopic instrument has a virtual trocar and a force feedback device with connecting pieces |
| KR20140084572A (en) * | 2012-12-27 | 2014-07-07 | 전자부품연구원 | Device limiting a joystick |
| CN105989769A (en) * | 2015-02-02 | 2016-10-05 | 中国科学院沈阳自动化研究所 | Spine minimally invasive surgery simulation force feedback operation training device and method |
| CN209734147U (en) * | 2019-01-21 | 2019-12-06 | 北京理工大学 | Force feedback device and lung puncture robot |
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2019
- 2019-01-21 CN CN201910055477.2A patent/CN109620413B/en active Active
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| US6104382A (en) * | 1997-10-31 | 2000-08-15 | Immersion Corporation | Force feedback transmission mechanisms |
| CH695301A5 (en) * | 2001-09-03 | 2006-03-15 | Xitact Sa | Device for simulating a rod-shaped surgical endoscopic instrument has a virtual trocar and a force feedback device with connecting pieces |
| KR20140084572A (en) * | 2012-12-27 | 2014-07-07 | 전자부품연구원 | Device limiting a joystick |
| CN105989769A (en) * | 2015-02-02 | 2016-10-05 | 中国科学院沈阳自动化研究所 | Spine minimally invasive surgery simulation force feedback operation training device and method |
| CN209734147U (en) * | 2019-01-21 | 2019-12-06 | 北京理工大学 | Force feedback device and lung puncture robot |
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| Title |
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| 力反馈主手研究现状及其力控制方法研究;刘海波等;《自动化技术与应用》;第28卷(第03期);1-5, 11 * |
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