CN110009962A - Blood vessel intervention operation training system based on movement scaling - Google Patents
Blood vessel intervention operation training system based on movement scaling Download PDFInfo
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- CN110009962A CN110009962A CN201910305327.2A CN201910305327A CN110009962A CN 110009962 A CN110009962 A CN 110009962A CN 201910305327 A CN201910305327 A CN 201910305327A CN 110009962 A CN110009962 A CN 110009962A
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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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- 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
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- G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses the blood vessel intervention operation training systems based on movement scaling, including operating device, visualization device, the operating device includes conduit, the axial operation structure for driving conduit to be axially moved, the guide frame for driving conduit rotary motion, it is equipped with the first control device of control axial operation structure operation in guide frame, the second control device of control axial operation structure operation is equipped in visualization device.The present invention scales principle using catheter movement, carries out blood vessel intervention operation simulated operation for surgeon, designs the reasonable operating scheme of conduit, and provide the touch feedback in effective horizontal direction；It solves in blood vessel intervention operation training process, since trained doctor lacks, operating experience leads to vascular wall and catheter tip leads to the problem of and collides and cause vascular tissue injury.
Description
Technical field
The present invention relates to a kind of blood vessel intervention operation training systems, and in particular to the blood vessel intervention operation based on movement scaling
Training system.
Background technique
Currently, for blood vessel intervention operation catheter manipulation training system majority using virtual reality technology (VR,
Virtual reality) operating condition of simulation conduit in the blood vessels, however doctor lacks true blood vessel insertion environment, does not have
Have whether real-time haptic feedback alert doctor catheterization procedure encounters obstacle, whether collision occurs.When collision occurs not having but
When having timely touch feedback, doctor can not fast reaction correct the operation of oneself, therefore be easy to cause injury of blood vessel.It is whole simultaneously
The operation that a blood vessel intervention operation crosses range request doctor is rapidly and accurate.
Existing trained equipment is mostly operation of the reproduction intervention doctor in equipment in VR, movement speed of the conduit in VR
Degree is limited to the service speed of doctor.Smaller in blood vessel diameter, when needing slowly and accurately to operate, catheter movement precision is limited
In the resolution ratio of manpower operation, it is unable to reach requirement.
Summary of the invention
The technical problem to be solved by the present invention is to not only conduit is limited to operator in traditional vascular surgery training system
Service speed, and trained doctor lacks operating experience, and therefore, vascular wall and catheter tip are easy to happen collision, and purpose exists
In provide based on movement scaling blood vessel intervention operation training system, solve in blood vessel intervention operation training process, due to by
Instruction doctor, which lacks operating experience, causes vascular wall and catheter tip to lead to the problem of collision and cause vascular tissue injury.
The present invention is achieved through the following technical solutions:
Based on the blood vessel intervention operation training system of movement scaling, including operating device, visualization device, the operation dress
It sets including conduit, the axial operation structure for driving conduit to be axially moved, the guide frame for driving conduit rotary motion, guide frame
In be equipped with the first control device of control axial operation structure operation, control axial operation structure operation is equipped in visualization device
Second control device.
The present invention scales principle using catheter movement, carries out blood vessel intervention operation simulated operation, design for surgeon
The reasonable operating scheme of conduit, and the touch feedback in effective horizontal direction is provided；It solves in traditional blood vessel intervening equipment
Conduit is limited to the shortcomings that operator's service speed, and increases the safety of intubation intervention process.Doctor inserts the catheter into blood
Pipe relies primarily on the forward-reverse of operation conduit and realizes clockwise or counterclockwise；Before conduit is axial in the present invention
It is realized into setback by axial operation structure, the rotary motion of conduit is realized by guide frame；In existing blood vessel intervening equipment
The forward-reverse of conduit is artificially limited by manual control, the movement speed of conduit；The present invention changes conduit in the axial direction
The control device and control mode of upper forward-reverse, the present invention increase the first control dress in the case where artificial mobile conduit
It sets and second control device, first control device and second control device cooperation controls conduit advance, retrogressing and catheter movement
Speed, catheter movement are not only restricted to the service speed of operator.In the present invention guide frame can not only conduct pipe in the blood vessels
Rotary motion, additionally it is possible to which axial operation structure, triggering of the axial operation structure in guide frame are triggered by first control device
Lower control conduit is axially moved, and therefore, in the present invention guide frame, which can not only control conduit rotary motion and can also control, leads
Pipe is axially moved；By guide frame rotary guide pipe, the spacing between catheter tip and vascular wall is adjusted, so that blood vessel and conduit
Between keep safe distance；It is axial in catheter movement distance, motion state, movement velocity and operating device in visualization device
The motion information for operating structure is consistent, and visualization device real-time detection catheter tip is at a distance from virtual vascular wall, and by information
After feeding back second control device, initial motion speed of the second control device according to gained range information binding operation person, hair
Dynamic structure of the number of delivering letters into axial operation structure, so that the operating status of axial operation structure is controlled, the operating status
Including advance, retrogressing, acceleration, deceleration or stopping etc..First control device and second control device being capable of bases in the present invention
Conduit is combined with the conduit actual motion speed of the distance between vascular wall and input, then controls the fortune of axial operation structure
Dynamic state, axial operation structure can generate a speed difference, bring touch feedback to operator；The movement shape of conduit in the present invention
State is not only restricted to the service speed of operator, and catheter movement is steady.
The guide frame includes splined shaft, the first straight nut, baffle, encoder, Hall sensor, magnet, controller,
Hall sensor, magnet, controller constitute the first control device in guide frame, and splined shaft is coaxial with conduit, and first is straight
One end of nut is equipped with baffle, and splined shaft one end is inserted into the first straight nut from the other end of the first straight nut, and the one of conduit
End is connected and fixed with baffle, and the other end of splined shaft is equipped with encoder, and baffle, which is located on the side wall inside the first straight nut, pacifies
Equipped with Hall sensor, splined shaft, which is located on one end end face inside the first straight nut, to be equipped with and the matched magnetic of Hall sensor
Iron, Hall sensor are connect by controller with the dynamic structure that driving axial operates structure operation.
Splined shaft and the first straight nut constitute ball guiding axis in the present invention, are equipped in the first straight nut for spline
The mobile space of axis axial movement, during splined shaft axial movement, splined shaft is moved relative to the first straight nut, before splined shaft
The magnet positions at end change, the magnetic field strength corresponding change that Hall sensor senses, thus Hall sensor output has
The current information of variation is to controller, and then driving axial operates the dynamic structure of structure, drives the advance of axial operation structure
It retreats, and the move distance information of the output pulse recording axial operation structure by the dynamic structure of axial operation structure, into
And obtain the move distance information of conduit；Splined shaft is merely able to do relative motion radially with the first straight nut in the present invention,
When splined shaft rotation, the first straight nut is rotated with splined shaft, and the first nut does not do relative motion with splined shaft, the first straight spiral shell
Cap rotation will drive baffle rotation to drive conduit to rotate, and adjust the spacing between catheter tip and vascular wall.
Visualization device is VR vascular system, and VR vascular system shows the motion state of conduit in the blood vessel, VR blood vascular system
Status information feedback module is equipped in system, status information feedback module operates the dynamic of structure operation by controller and driving axial
The connection of power structure, status information feedback module, controller constitute the second control device in visualization device.
When trained doctor carries out blood vessel intervention operation training, VR vascular system interface is observed while operating conduit, is obtained
Shape of blood vessel and catheter movement status information；The catheter location information in trained doctor's operating process is transmitted using serial communication
To VR vascular system, virtual pipe movement is controlled, the catheter movement state consistency of virtual pipe and trained doctor operation at this time,
In conjunction with the range information of the conduit and vascular wall detected in VR vascular system, the movement of conduit is zoomed in and out, the fortune of conduit
Dynamic zoom control is to control to realize based on existing VR vascular system.
The present invention is embedded in the state letter that the present invention designs on the basis of developed blood vessel intervention operation VR vascular system
Feedback module is ceased, realizes conduit condition monitoring function, in the incoming VR vascular system of the motion information of true conduit, in conjunction with
The range information of status information feedback module output, judges whether the operation of trained doctor may cause conduit in VR vascular system
Point collides with vascular wall, to carry out movement scaling to conduit, reduces the probability that collision occurs, reaches protection vascular tissue
Purpose；The present invention is embedded in the status information that the present invention designs on the basis of developed blood vessel intervention operation VR vascular system
Feedback module, can real-time detection catheter tip at a distance from virtual vascular wall, and by information feedback to after controller, controller
According to the initial motion speed of gained range information binding operation person, the power knot of signal control axial operation structure operation is sent
Structure, size of the catheter tip at a distance from virtual vascular wall according to value can be divided into " safe distance " " warning distance " " collision " three kinds of feelings
The boundary of condition, " safe distance " and " warning distance " can sets itself, the situation of " collision " then be VR blood in VR vascular system
Collision detection algorithm detects that catheter tip collides with vascular wall in guard system；Operating device and VR vascular system in the present invention
The simulation to doctor's blood vessel intervention operation whole process is realized in connection, and the present invention is by movement scaling, in different blood vessel diameters
In, conduit has different movement velocitys, optimizes vascular interventional procedure, reduces the potential harm to patient, increases the essence of intervention
Accuracy.
The axial operation structure is ball-screw, and guide frame is mounted on ball-screw pedestal, drives ball-screw
The dynamic structure of operation is stepper motor.Axial operation structure uses ball-screw in the present invention, and mobile drive of ball-screw is led
Pipe axially moves, and stepper motor can not only electric drive ball-screw, additionally it is possible to first control device, second control device
Realize the intelligentized control method of catheter movement.
The both ends of ball-screw are mounted on limiter.Limiter defines the moving distance of ball-screw.
Second straight nut is installed, encoder is connected and fixed with the second straight nut between splined shaft and encoder.Second straight spiral shell
Cap and spline axis connection form ball guiding axis, and the second straight nut does relative motion in the axial direction with splined shaft, but around axis
It to when rotation, does not do relative motion, the second straight nut is easy to use for connecting splined shaft and encoder, takes convenient for encoder
Obtain the rotational motion information of conduit.
Touch feedback structure is installed in guide frame.Conduit is mounted with haptic feedback module in the axial direction, when guiding is tied
The motion state of structure changes, and touch feedback structure can give one tactilely-perceptible of operator.
The touch feedback structure includes the spring being mounted between Hall sensor and magnet, and spring is same with splined shaft
Axis.The present invention utilizes the elastic deformation of spring, and after the motion state of splined shaft changes, apparent deformation can occur for spring simultaneously
Give operator one tactilely-perceptible.
Operating device further includes station, and conduit, axial operation structure, guide frame are installed on station.Operation
Platform is the support device of whole device, is operated convenient for operator.
Compared with prior art, the present invention having the following advantages and benefits:
1, conduit is changed the present invention is based on the blood vessel intervention operation training system of movement scaling to advance in the axial direction
The control placement of retrogressing and control mode increase first control device and second control device, first control device and second
The speed of the advance of control device cooperation control conduit, retrogressing and catheter movement, catheter movement are not only restricted to the operation speed of operator
Degree；
2, the present invention is based on the blood vessel intervention operation training systems of movement scaling being capable of the apparent tactilely-perceptible of operator.
Detailed description of the invention
Attached drawing described herein is used to provide to further understand the embodiment of the present invention, constitutes one of the application
Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings:
Fig. 1 is schematic structural view of the invention；
Fig. 2 is partial structural diagram of the present invention.
Label and corresponding parts title in attached drawing:
1- conduit, 2- splined shaft, the straight nut of 3- first, 4- baffle, 5- encoder, 6- ball-screw, 7- limiter, 8-
Two straight nuts, 9- station, 10- spring, 11- Hall sensor, 12- magnet.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below with reference to embodiment and attached drawing, to this
Invention is described in further detail, and exemplary embodiment of the invention and its explanation for explaining only the invention, are not made
For limitation of the invention.
Embodiment 1
As shown in Figure 1, the present invention is based on the blood vessel intervention operation training system of movement scaling, including it is operating device, visual
Makeup is set, and the operating device includes conduit 1, the axial operation structure of the driving axial movement of conduit 1, the driving rotation fortune of conduit 1
Dynamic guide frame is equipped with the first control device of control axial operation structure operation in guide frame, sets in visualization device
There is the second control device of control axial operation structure operation.Operating device further includes station 9, conduit 1, axial operation knot
Structure, guide frame are installed on station 9.
The present invention scales principle using catheter movement, carries out blood vessel intervention operation simulated operation, design for surgeon
The reasonable operating scheme of conduit, and the touch feedback in effective horizontal direction is provided；It solves in traditional blood vessel intervening equipment
Conduit is limited to the shortcomings that operator's service speed, and increases the safety of intubation intervention process.Doctor inserts the catheter into blood
Pipe relies primarily on the forward-reverse of operation conduit and realizes clockwise or counterclockwise；Before conduit is axial in the present invention
It is realized into setback by axial operation structure, the rotary motion of conduit is realized by guide frame；In existing blood vessel intervening equipment
The forward-reverse of conduit is artificially limited by manual control, the movement speed of conduit；The present invention changes conduit in the axial direction
The control placement of upper forward-reverse and control mode, the present invention increase the first control dress in the case where artificial mobile conduit
It sets and second control device, first control device and second control device cooperation controls conduit advance, retrogressing and catheter movement
Speed, catheter movement are not only restricted to the service speed of operator.
Embodiment 2
Based on embodiment 1, as shown in Figure 1 and Figure 2, the guide frame include splined shaft 2, the first straight nut 3, baffle 4,
Encoder 5, Hall sensor 11, magnet 12, controller, Hall sensor 11, magnet 12, controller constitute in guide frame
First control device, splined shaft 2 and conduit 1 are coaxial, and one end of the first straight nut 3 is equipped with baffle 4,2 one end of splined shaft from
The other end of first straight nut 3 is inserted into the first straight nut 3, and one end and the baffle 4 of conduit 1 are connected and fixed, splined shaft 2 it is another
End is equipped with encoder 5, and baffle 4, which is located on the side wall inside the first straight nut 3, is equipped with Hall sensor 11, and splined shaft 2
Be equipped on one end end face inside the first straight nut 3 with the matched magnet 12 of Hall sensor 11, Hall sensor 11 is logical
Controller is crossed to connect with the dynamic structure of driving axial operation structure operation.Second straight spiral shell is installed between splined shaft 2 and encoder 5
Cap 8, encoder 5 are connected and fixed with the second straight nut 8.The axial operation structure is ball-screw 6, and guide frame is mounted on rolling
On 6 pedestal of ballscrew, the dynamic structure that driving ball-screw 6 is run is stepper motor.The both ends of ball-screw 6 are respectively mounted limited
Position device 7.
When splined shaft axially moves relative to the first straight nut, the magnet positions of front end change, Hall sensor
The magnetic field strength corresponding change sensed, the current information that thus Hall sensor output changes drive to controller
Stepper motor drives the forward-reverse of ball-screw to move, and by stepper motor output pulse recording lead screw movement away from
From information, and then obtain the move distance information of conduit.In addition, by being formed with splined shaft, the first straight nut, the second straight nut
The encoder that is connected directly of ball guiding axis obtain the rotational motion information of conduit；Operator holds splined shaft and carries out rotation fortune
Dynamic, splined shaft can not generate relative motion in direction of rotation with straight nut, and encoder and the second straight nut are connected, and are obtained with this
The accurate rotation angle information of conduit.
Embodiment 3
Based on embodiment 1, visualization device is VR vascular system, and VR vascular system shows the movement shape of conduit in the blood vessel
State, status information feedback module is equipped in VR vascular system, and status information feedback module is operated by controller and driving axial
The dynamic structure connection of structure operation, status information feedback module, controller constitute the second control dress in visualization device
It sets.The axial operation structure is ball-screw 6, and guide frame is mounted on 6 pedestal of ball-screw, and driving ball-screw 6 is transported
Capable dynamic structure is stepper motor.The both ends of ball-screw 6 are mounted on limiter 7.
Into VR vascular system, i.e., the information clockwise or counterclockwise for moving forward and backward information and conduit of conduit is transmitted
The accurate motion state of conduit in the blood vessel can be represented in VR；Catheter movement distance and hardware device in VR vascular system
The motion information of middle ball-screw is consistent, and in order to optimize motion conditions of the conduit in VR vascular system, this system joined fortune
Dynamic zoom control, it is anti-by being embedded in our status informations of design on the basis of having developed blood vessel intervention operation VR vascular system
It presents module and realizes conduit condition monitoring function, real-time detection catheter tip is at a distance from virtual vascular wall, this distance is according to value
Size can be divided into " safe distance " " warning distance " " collision " three kinds of situations, and by after information feedback to controller, controller
According to the initial motion speed of gained range information binding operation person, sends signal control motor and drive lead screw.To operate conduit
For travelling forward, when the range information detected be " warning distance ", and operator to lead screw initial velocity be higher than setting
When threshold value, multiply a proportionality coefficient less than 1 to lead screw speed, makes conduit to be less than the speed operation that operator gives, simultaneously
Tactile is provided to operator, has the function that prompting, has a crotch before conduit, change its direction by rotating, then lead to
The operation such as conduit forward-reverse is crossed, final realize turns to, and adjusts the distance between catheter tip and blood vessel；When the distance detected
When information is " safe distance ", conduit is run with the speed that operator gives；When the range information detected is " collision ", silk is given
Thick stick speed multiply a smaller proportionality coefficient to conduit carry out slow down or hardware device is directly forced to stop according to the actual situation
The axial movement of conduit is operated by rotary guide pipe etc., and after so that range information is detached from " collision " region, conduit will be by scaling strategy
To move.It is achieved in movement scaling and in the horizontal direction tactile alert function of the conduit in VR.
The boundary of safe distance and warning distance can sets itself, the situation of " collision " then be VR blood in VR vascular system
Collision detection algorithm detects that catheter tip collides with vascular wall in guard system, is ensuring not collide to every kind of distance
Under the premise of be arranged safe displacement threshold value, when true conduit motion information be passed to VR vascular system after, pass through compare current detection
To distance under true catheter displacement whether be in safe displacement threshold value, movement scaling is carried out to conduit.Specific scaling plan
It is slightly as follows:
Wherein χmDisplacement and the displacement after scaling, μ before respectively representing catheter movement scaling with χ are scale factor.
The system is able to achieve for different catheter movement states, catheter tip is compared at a distance from vascular wall, to conduit
Carry out reasonable movement scaling.Such as when vascular wall and catheter tip be in warning distance, and the operation of trained doctor displacement
Greater than the maximum value of secure threshold under warning distance, the displacement of virtual pipe will be downscaled at this time, while will be after diminution
Displacement be back to slave computer, and be converted into velocity amplitude, stepper motor running speed reduces at this time, to make the fortune of true conduit
Dynamic speed reduces.The movement velocity of true conduit is lower than the expected speed for pushing conduit to generate of trained doctor, lead screw in short time
One " touch " contrary with trained doctor's current operation has been given, has realized power/haptic interaction of trained doctor's hand.It is trained
Doctor can quickly recognize that the operation of oneself has in conjunction with the visual information that VR vascular system interface is fed back by the prompting of touch
Accidentally, the operation of oneself is corrected, to reach the collision for reducing catheter tip and vascular wall, protects the purpose of vascular tissue.
Embodiment 4
Based on the above embodiment, as shown in Fig. 2, being equipped with touch feedback structure in guide frame, the touch feedback knot
Structure includes the spring 10 being mounted between Hall sensor 11 and magnet 12, and spring 10 and splined shaft 2 are coaxial.Conduit actual motion
And the speed of the expected operation catheter movement of operator generates deviation, this deviation makes spring-compressed, to operator one and operation
Contrary power, that is, the touch that operator can experience.
Embodiment 5
Based on embodiment 1-4, the present invention is based on the operating procedures of the blood vessel intervention operation training system of movement scaling, specifically
Are as follows:
S1, model is intervened in VR vascular system power building blood vessel, entire hardware operation device is connect with VR vascular system,
Realize the simulation to doctor's blood vessel intervention operation whole process；
S2, splined shaft is moved in the axial direction, the magnet positions of splined shaft front end change, what Hall sensor sensed
Magnetic field strength corresponding change, the current information that thus Hall sensor output changes drive stepper motor to controller,
Give ball-screw one initial motion speed, the conduit that ball-screw travels forward travels forward in the blood vessels；
At a distance from virtual vascular wall, this size of distance according to value can divide S3, VR vascular system real-time detection catheter tip
For " safe distance " " warning distance " " collision " three kinds of situations, and by after information feedback to controller, controller according to gained away from
Initial motion speed from information binding operation person sends signal controling stepping motor to drive ball-screw；Such as: when leading
When pipe needs to turn to, the spacing between conduit and vascular wall can become smaller, and under the alarm of " warning distance " or " collision ", pass through
Rotation splined shaft rotates to change the direction of catheter tip crotch, then passes through first control device, the same time control of second control device
Conduit forward-reverse processed, it is final to realize that conduit turns to, adjust the distance between catheter tip and blood vessel；VR vascular system passes through the
Two control devices give ball-screw one control signal, and conductor structure also can be to ball-screw one control by first control device
Signal processed, the two, which is given simultaneously between the control signal of its ball-screw, can generate speed difference, and operator is touched by speed difference
Sense feedback；
S4, when ball-screw moves forward or back the position for reaching limiter, ball-screw stop motion, VR blood vessel at this time
System halt operation, until control ball-screw returns to origin, VR vascular system is continued to run.
The distance measurement information of present invention combination VR scales principle using catheter movement, optimizes the movement of conduit, and
Horizontal direction in hardware device provides tactile alert function.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (9)
1. based on the blood vessel intervention operation training system of movement scaling, including operating device, visualization device, the operating device
The guide frame of the axial operation structure, driving conduit (1) rotary motion that are axially moved including conduit (1), driving conduit (1),
It is characterized in that, being equipped with the first control device of control axial operation structure operation in guide frame, it is equipped in visualization device
Control the second control device of axial operation structure operation.
2. the blood vessel intervention operation training system according to claim 1 based on movement scaling, which is characterized in that described to lead
To structure include splined shaft (2), the first straight nut (3), baffle (4), encoder (5), Hall sensor (11), magnet (12),
Controller, Hall sensor (11), magnet (12), controller constitute the first control device in guide frame, splined shaft (2)
Coaxially with conduit (1), one end of the first straight nut (3) is equipped with baffle (4), and splined shaft (2) one end is from the first straight nut (3)
The other end is inserted into the first straight nut (3), and one end and the baffle (4) of conduit (1) are connected and fixed, the other end peace of splined shaft (2)
Equipped with encoder (5), baffle (4), which is located on the internal side wall of the first straight nut (3), is equipped with Hall sensor (11), splined shaft
(2) it is located on the internal one end end face of the first straight nut (3) and is equipped with and Hall sensor (11) matched magnet (12), Hall
Sensor (11) is connect by controller with the dynamic structure that driving axial operates structure operation.
3. the blood vessel intervention operation training system according to claim 1 based on movement scaling, which is characterized in that visualization
Device is VR vascular system, and VR vascular system shows the motion state of conduit in the blood vessel, is equipped with state in VR vascular system and believes
Feedback module is ceased, status information feedback module is connect by controller with the dynamic structure that driving axial operates structure operation, shape
State information feedback module, controller constitute the second control device in visualization device.
4. the blood vessel intervention operation training system according to claim 2 or 3 based on movement scaling, which is characterized in that institute
Stating axial operation structure is ball-screw (6), and guide frame is mounted on ball-screw (6) pedestal, driving ball-screw (6) fortune
Capable dynamic structure is stepper motor.
5. the blood vessel intervention operation training system according to claim 4 based on movement scaling, which is characterized in that ball wire
The both ends of thick stick (6) are mounted on limiter (7).
6. the blood vessel intervention operation training system according to claim 2 based on movement scaling, which is characterized in that splined shaft
(2) the second straight nut (8) is installed between encoder (5), encoder (5) is connected and fixed with the second straight nut (8).
7. the blood vessel intervention operation training system according to claim 2 based on movement scaling, which is characterized in that guiding knot
Touch feedback structure is installed in structure.
8. the blood vessel intervention operation training system according to claim 7 based on movement scaling, which is characterized in that the touching
Feel that feedback arrangement includes the spring (10) being mounted between Hall sensor (11) and magnet (12), spring (10) and splined shaft
(2) coaxial.
9. the blood vessel intervention operation training system according to claim 1 based on movement scaling, which is characterized in that operation dress
Setting further includes station (9), and conduit (1), axial operation structure, guide frame are installed on station (9).
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111047940A (en) * | 2019-12-30 | 2020-04-21 | 西南石油大学 | Manual operation device based on blood vessel intervention operation training system |
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