CN110009962B - Vascular intervention operation training system based on motion scaling - Google Patents
Vascular intervention operation training system based on motion scaling Download PDFInfo
- Publication number
- CN110009962B CN110009962B CN201910305327.2A CN201910305327A CN110009962B CN 110009962 B CN110009962 B CN 110009962B CN 201910305327 A CN201910305327 A CN 201910305327A CN 110009962 B CN110009962 B CN 110009962B
- Authority
- CN
- China
- Prior art keywords
- catheter
- vascular
- axial
- control device
- spline shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
-
- 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
- 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
-
- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The application discloses a vascular intervention operation training system based on motion scaling, which comprises an operation device and a visualization device, wherein the operation device comprises a catheter, an axial operation structure for driving the catheter to axially move and a guide structure for driving the catheter to rotationally move, a first control device for controlling the operation of the axial operation structure is arranged in the guide structure, and a second control device for controlling the operation of the axial operation structure is arranged in the visualization device. The application utilizes the catheter motion scaling principle to simulate the vascular intervention operation of a surgeon, designs a reasonable operation scheme of the catheter and provides effective tactile feedback in the horizontal direction; solves the problem that the vascular wall collides with the tip of the catheter to cause vascular tissue damage due to the lack of operation experience of trained doctors in the vascular interventional operation training process.
Description
Technical Field
The application relates to a vascular intervention operation training system, in particular to a vascular intervention operation training system based on motion scaling.
Background
At present, most catheter operation training systems aiming at vascular interventional operations adopt Virtual Reality (VR) technology to simulate the running condition of a catheter in a blood vessel, however, doctors lack a real vascular insertion environment, and do not have real-time tactile feedback to remind the doctors whether the catheterization process encounters an obstacle or not and whether collision occurs or not. When collision occurs without timely tactile feedback, a doctor cannot quickly respond to correct own operation, so that vascular injury is easily caused. Meanwhile, the whole vascular interventional operation process requires a doctor to operate rapidly and accurately.
Most of the existing training devices are used for reproducing the operation of interventional doctors on the devices in VR, and the movement speed of the catheter in VR is limited by the operation speed of the doctors. When the diameter of the blood vessel is smaller and slow and accurate operation is needed, the motion precision of the catheter is limited by the resolution of manual operation, and the requirement cannot be met.
Disclosure of Invention
The application aims to provide a vascular intervention operation training system based on motion scaling, which solves the problem that vascular tissue damage is caused by collision between a vascular wall and a catheter tip due to lack of operation experience of a trained doctor in the vascular intervention operation training process.
The application is realized by the following technical scheme:
the vascular intervention operation training system based on motion scaling comprises an operation device and a visualization device, wherein the operation device comprises a catheter, an axial operation structure for driving the catheter to axially move and a guide structure for driving the catheter to rotationally move, a first control device for controlling the axial operation structure to operate is arranged in the guide structure, and a second control device for controlling the axial operation structure to operate is arranged in the visualization device.
The application utilizes the catheter motion scaling principle to simulate the vascular intervention operation of a surgeon, designs a reasonable operation scheme of the catheter and provides effective tactile feedback in the horizontal direction; the defect that the catheter in the traditional vascular interventional device is limited by the operation speed of an operator is overcome, and the safety of the catheter interventional process is improved. The doctor inserts the catheter into the blood vessel, and mainly relies on the forward and backward movement of the operation catheter and the clockwise or anticlockwise rotation; in the application, the axial advancing and retreating movement of the catheter is realized by an axial operation structure, and the rotating movement of the catheter is realized by a guide structure; the advancing and retreating of the catheter in the existing vascular interventional device are manually controlled, and the moving speed of the catheter is manually limited; the application changes the control device and the control mode of the forward and backward movement of the catheter in the axial direction, and adds the first control device and the second control device under the condition of manually moving the catheter, wherein the first control device and the second control device are matched to control the forward and backward movement of the catheter and the speed of the movement of the catheter, and the movement of the catheter is not limited by the operation speed of an operator. The guide structure not only can control the rotation movement of the catheter in the blood vessel, but also can trigger the axial operation structure through the first control device, and the axial operation structure controls the axial movement of the catheter under the triggering of the guide structure, so that the guide structure can control the rotation movement of the catheter and also can control the axial movement of the catheter; rotating the catheter through the guide structure, and adjusting the distance between the tip of the catheter and the wall of the blood vessel so as to keep a safe distance between the blood vessel and the catheter; the catheter movement distance, movement state and movement speed in the visualization device are consistent with the movement information of the axial operation structure in the operation device, the visualization device detects the distance between the catheter tip and the virtual blood vessel wall in real time, and after feeding back the information to the second control device, the second control device sends a signal to the power structure in the axial operation structure according to the obtained distance information in combination with the initial movement speed of an operator, so that the running state of the axial operation structure is controlled, wherein the running state comprises forward, backward, acceleration, deceleration or stop and the like. According to the application, the first control device and the second control device can be combined according to the distance between the catheter and the vessel wall and the input actual motion speed of the catheter, and then the motion state of the axial operation structure is controlled, and the axial operation structure can generate a speed difference to bring tactile feedback to an operator; the motion state of the catheter is not limited by the operation speed of an operator, and the catheter moves stably.
The guide structure comprises a spline shaft, a first straight nut, a baffle, an encoder, a Hall sensor, a magnet and a controller, wherein the Hall sensor, the magnet and the controller form a first control device in the guide structure, the spline shaft is coaxial with a guide pipe, the baffle is installed at one end of the first straight nut, one end of the spline shaft is inserted into the first straight nut from the other end of the first straight nut, one end of the guide pipe is fixedly connected with the baffle, the encoder is installed at the other end of the spline shaft, the baffle is located on the side wall of the inside of the first straight nut, the Hall sensor is installed on the end face of one end of the spline shaft located inside of the first straight nut, the magnet matched with the Hall sensor is installed on the end face of the spline shaft, and the Hall sensor is connected with a power structure for driving the axial operation structure to operate through the controller.
According to the application, the spline shaft is connected with the first straight screw cap to form a ball guide shaft, a moving space for axially moving the spline shaft is arranged in the first straight screw cap, in the axial movement process of the spline shaft, the spline shaft moves relative to the first straight screw cap, the position of a magnet at the front end of the spline shaft changes, the magnetic field strength sensed by the Hall sensor correspondingly changes, and therefore the Hall sensor outputs changed current information to the controller, so that the power structure of the axial operation structure is driven to drive the axial operation structure to advance and retreat, and the movement distance information of the axial operation structure is recorded through the output pulse of the power structure of the axial operation structure, so that the movement distance information of the guide pipe is obtained; according to the application, the spline shaft and the first straight screw cap can only do relative movement in the radial direction, when the spline shaft rotates, the first straight screw cap rotates along with the spline shaft, the first screw cap does not do relative movement with the spline shaft, and the rotation of the first straight screw cap drives the baffle to rotate so as to drive the guide pipe to rotate, and the distance between the tip of the guide pipe and the wall of a blood vessel is adjusted.
The visual device is a VR vascular system, the VR vascular system displays the motion state of the catheter in the blood vessel, a state information feedback module is arranged in the VR vascular system and is connected with a power structure for driving the axial operation structure to operate through a controller, and the state information feedback module and the controller form a second control device in the visual device.
When a trained doctor performs vascular interventional operation training, operating the catheter and observing a VR vascular system interface at the same time to acquire the shape of the blood vessel and the motion state information of the catheter; and transmitting the catheter position information in the operation process of the trained doctor to the VR vascular system by utilizing serial port communication, controlling the movement of the virtual catheter, wherein the movement state of the virtual catheter is consistent with that of the catheter operated by the trained doctor, and the movement of the catheter is scaled by combining the distance information of the catheter and the vascular wall detected in the VR vascular system, and the movement scaling control of the catheter is realized based on the control of the existing VR vascular system.
The application embeds the state information feedback module designed by the application on the basis of the developed vascular interventional operation VR vascular system, realizes the function of detecting the running state of the catheter, and judges whether the operation of a trained doctor possibly causes collision between the tip of the catheter and the vascular wall in the VR vascular system or not by combining the distance information output by the state information feedback module when the motion information of the real catheter is transmitted into the VR vascular system, thereby carrying out motion scaling on the catheter, reducing the probability of collision and achieving the purpose of protecting vascular tissues; the application embeds the status information feedback module designed by the application on the basis of the developed vascular interventional operation VR vascular system, can detect the distance between the tip of the catheter and the virtual vascular wall in real time, and after feeding back the information to the controller, the controller combines the initial movement speed of an operator according to the obtained distance information, and sends a signal to control the power structure of the axial operation structure, the distance between the tip of the catheter and the virtual vascular wall can be divided into three cases of a safe distance and a collision according to the value, the limit of the safe distance and the collision can be set in the VR vascular system, and the collision detection algorithm in the VR vascular system detects the collision between the tip of the catheter and the vascular wall; the operation device is connected with the VR vascular system to simulate the whole process of the vascular intervention operation of a doctor, and the catheter has different movement speeds in different vascular diameters through movement scaling, so that the vascular intervention process is optimized, potential injury to a patient is reduced, and the intervention accuracy is improved.
The axial operation structure is a ball screw, the guide structure is arranged on the ball screw base, and the power structure for driving the ball screw to operate is a stepping motor. The axial operation structure adopts the ball screw, the ball screw moves to drive the guide pipe to axially move, and the stepping motor not only can electrically drive the ball screw, but also can realize intelligent control of the guide pipe movement with the first control device and the second control device.
The two ends of the ball screw are provided with limiters. The stopper defines a moving distance of the ball screw.
A second straight screw cap is arranged between the spline shaft and the encoder, and the encoder is fixedly connected with the second straight screw cap. The second straight screw cap is connected with the spline shaft to form a ball guide shaft, the second straight screw cap and the spline shaft do relative motion in the axial direction, but do not do relative motion when rotating around the axial direction, and the second straight screw cap is used for connecting the spline shaft and the encoder, so that the ball guide shaft is convenient to use and the encoder is convenient to acquire the rotation motion information of the guide pipe.
The guide structure is provided with a tactile feedback structure. The catheter is axially provided with a tactile feedback module which gives the operator a tactile sensation when the movement state of the guiding structure changes.
The tactile feedback structure comprises a spring arranged between the Hall sensor and the magnet, and the spring is coaxial with the spline shaft. According to the application, the elastic deformation of the spring is utilized, and when the motion state of the spline shaft is changed, the spring can be obviously deformed and gives an operator a tactile sensation.
The operating device further comprises an operating table, and the guide pipe, the axial operating structure and the guiding structure are all arranged on the operating table. The operation table is a supporting device of the whole device, and is convenient for an operator to operate.
Compared with the prior art, the application has the following advantages and beneficial effects:
1. the vascular intervention operation training system based on motion scaling changes the control placement and control mode of the forward and backward movement of the catheter in the axial direction, and adds the first control device and the second control device which are matched to control the forward and backward movement of the catheter and the speed of the motion of the catheter, so that the motion of the catheter is not limited by the operation speed of an operator;
2. the vascular intervention operation training system based on motion scaling can be used for obviously sensing touch sense of an operator.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings:
FIG. 1 is a schematic diagram of the structure of the present application;
fig. 2 is a schematic view of a partial structure of the present application.
In the drawings, the reference numerals and corresponding part names:
1-guide pipe, 2-spline shaft, 3-first straight screw cap, 4-baffle, 5-encoder, 6-ball screw, 7-stopper, 8-second straight screw cap, 9-operation panel, 10-spring, 11-hall sensor, 12-magnet.
Detailed Description
For the purpose of making apparent the objects, technical solutions and advantages of the present application, the present application will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present application and the descriptions thereof are for illustrating the present application only and are not to be construed as limiting the present application.
Example 1
As shown in fig. 1, the vascular intervention operation training system based on motion scaling comprises an operation device and a visualization device, wherein the operation device comprises a catheter 1, an axial operation structure for driving the catheter 1 to axially move and a guide structure for driving the catheter 1 to rotationally move, a first control device for controlling the axial operation structure to operate is arranged in the guide structure, and a second control device for controlling the axial operation structure to operate is arranged in the visualization device. The operating device further comprises an operating table 9, and the catheter 1, the axial operating structure and the guiding structure are all arranged on the operating table 9.
The application utilizes the catheter motion scaling principle to simulate the vascular intervention operation of a surgeon, designs a reasonable operation scheme of the catheter and provides effective tactile feedback in the horizontal direction; the defect that the catheter in the traditional vascular interventional device is limited by the operation speed of an operator is overcome, and the safety of the catheter interventional process is improved. The doctor inserts the catheter into the blood vessel, and mainly relies on the forward and backward movement of the operation catheter and the clockwise or anticlockwise rotation; in the application, the axial advancing and retreating movement of the catheter is realized by an axial operation structure, and the rotating movement of the catheter is realized by a guide structure; the advancing and retreating of the catheter in the existing vascular interventional device are manually controlled, and the moving speed of the catheter is manually limited; the application changes the control placement and control mode of the forward and backward movement of the catheter in the axial direction, and adds the first control device and the second control device under the condition of manually moving the catheter, wherein the first control device and the second control device are matched to control the forward and backward movement of the catheter and the speed of the movement of the catheter, and the movement of the catheter is not limited by the operation speed of an operator.
Example 2
Based on embodiment 1, as shown in fig. 1 and 2, the guiding structure comprises a spline shaft 2, a first straight nut 3, a baffle plate 4, an encoder 5, a hall sensor 11, a magnet 12 and a controller, wherein the hall sensor 11, the magnet 12 and the controller form a first control device in the guiding structure, the spline shaft 2 is coaxial with a guide tube 1, the baffle plate 4 is installed at one end of the first straight nut 3, one end of the spline shaft 2 is inserted into the first straight nut 3 from the other end of the first straight nut 3, one end of the guide tube 1 is fixedly connected with the baffle plate 4, the encoder 5 is installed at the other end of the spline shaft 2, the hall sensor 11 is installed on the side wall of the baffle plate 4 positioned inside the first straight nut 3, the magnet 12 matched with the hall sensor 11 is installed on the end face of one end of the spline shaft 2 positioned inside the first straight nut 3, and the hall sensor 11 is connected with a power structure for driving an axial operation structure through the controller. A second straight screw cap 8 is arranged between the spline shaft 2 and the encoder 5, and the encoder 5 is fixedly connected with the second straight screw cap 8. The axial operation structure is a ball screw 6, the guide structure is arranged on the base of the ball screw 6, and the power structure for driving the ball screw 6 to run is a stepping motor. The two ends of the ball screw 6 are provided with limiters 7.
When the spline shaft moves axially relative to the first straight screw cap, the position of the magnet at the front end changes, the magnetic field strength sensed by the Hall sensor correspondingly changes, and therefore the Hall sensor outputs changed current information to the controller, and then drives the stepping motor to drive the ball screw to move forwards and backwards, and the movement distance information of the screw is recorded through output pulses of the stepping motor, so that the movement distance information of the guide pipe is obtained. In addition, the rotary motion information of the guide pipe is obtained through an encoder which is directly connected with a ball guide shaft consisting of the spline shaft, the first straight screw cap and the second straight screw cap; the operator holds the spline shaft to perform rotary motion, the spline shaft cannot generate relative motion with the straight screw cap in the rotary direction, and the encoder is fixedly connected with the second straight screw cap, so that accurate rotation angle information of the guide pipe is obtained.
Example 3
Based on embodiment 1, the visualization device is a VR vascular system, the VR vascular system displays the motion state of the catheter in the blood vessel, a state information feedback module is arranged in the VR vascular system, the state information feedback module is connected with a power structure for driving the axial operation structure to operate through a controller, and the state information feedback module and the controller form a second control device in the visualization device. The axial operation structure is a ball screw 6, the guide structure is arranged on the base of the ball screw 6, and the power structure for driving the ball screw 6 to run is a stepping motor. The two ends of the ball screw 6 are provided with limiters 7.
Transmitting the forward and backward movement information of the catheter and the clockwise or anticlockwise rotation information of the catheter into a VR vascular system, so that the accurate movement state of the catheter in the blood vessel can be shown in VR; the motion distance of the catheter in the VR vascular system is consistent with the motion information of the ball screw in the hardware equipment, in order to optimize the motion condition of the catheter in the VR vascular system, the motion scaling control is added in the system, on the basis of the VR vascular system of the developed vascular interventional operation, the running state detection function of the catheter is realized by embedding a state information feedback module designed by us, the distance between the tip of the catheter and the virtual vascular wall is detected in real time, the distance can be divided into three conditions of a safe distance, a warning distance and a collision according to the value, and after the information is fed back to the controller, the controller combines the initial motion speed of an operator according to the obtained distance information, and sends a signal to control a motor to drive the screw. Taking the forward movement of the operation catheter as an example, when the detected distance information is a warning distance and the initial speed of the screw rod given by an operator is higher than a set threshold value, multiplying the speed of the screw rod by a proportionality coefficient smaller than 1 to enable the catheter to run at a speed smaller than the given speed of the operator, simultaneously providing touch for the operator, achieving the reminding effect, enabling a hook to be arranged in front of the catheter, changing the direction of the hook through rotation, and finally realizing steering through the operations of advancing and retreating of the catheter and the like, and adjusting the distance between the tip of the catheter and a blood vessel; when the detected distance information is a safe distance, the catheter runs at a speed given by an operator; when the detected distance information is 'collision', the guide pipe is decelerated by multiplying the speed of the lead screw by a smaller scale coefficient or the axial movement of the guide pipe is directly and forcedly stopped by hardware equipment according to actual conditions, and the guide pipe moves according to a scaling strategy after the distance information is separated from a 'collision' area through operations such as rotating the guide pipe. Thereby achieving motion scaling of the catheter in VR and tactile alert function in the horizontal direction.
The limit of the safety distance and the warning distance can be set in the VR vascular system by oneself, the collision situation is that a collision detection algorithm in the VR vascular system detects collision between the catheter tip and the vascular wall, a safety displacement threshold is set on the premise of ensuring no collision for each distance, and after the motion information of the real catheter is transmitted into the VR vascular system, the motion of the catheter is scaled by comparing whether the motion of the real catheter is in the safety displacement threshold or not under the current detected distance. The specific scaling strategy is as follows:
wherein χ is m And χ represents the displacement before and after scaling of the catheter motion, respectively, μ being the scaling factor.
The system can realize reasonable motion scaling of the catheter by comparing the distance between the tip of the catheter and the wall of the blood vessel according to different catheter motion states. For example, when the vessel wall is at a warning distance from the tip of the catheter and the operation displacement of the trained doctor is larger than the maximum value of the safety threshold value under the warning distance, the displacement of the virtual catheter is reduced proportionally, the reduced displacement is returned to the lower computer and converted into a speed value, and the operation speed of the stepping motor is reduced, so that the movement speed of the real catheter is reduced. The movement speed of the real catheter in a short time is lower than the speed generated by the trainee expecting to push the catheter, and the lead screw gives a 'touch force' opposite to the current operation direction of the trainee, so that the force/touch interaction of the hand of the trainee is realized. The trained doctor can quickly realize that the operation is wrong by combining the touch reminding and the visual information fed back by the VR vascular system interface and correct the operation, thereby achieving the purposes of reducing the collision between the tip of the catheter and the vascular wall and protecting vascular tissues.
Example 4
Based on the above embodiment, as shown in fig. 2, a tactile feedback structure is installed in the guide structure, and the tactile feedback structure includes a spring 10 installed between a hall sensor 11 and a magnet 12, the spring 10 being coaxial with the spline shaft 2. The actual movement of the catheter deviates from the speed at which the operator expects to operate the catheter, which causes the spring to compress, giving the operator a force opposite to the direction of operation, i.e. the touch force the operator can feel.
Example 5
Based on embodiments 1-4, the operation steps of the vascular intervention operation training system based on motion scaling of the application are as follows:
s1, constructing a vascular intervention model on the VR vascular system force, and connecting the whole hardware operation device with the VR vascular system to simulate the whole process of the vascular intervention operation of a doctor;
s2, moving the spline shaft in the axial direction, wherein the position of a magnet at the front end of the spline shaft changes, the magnetic field strength sensed by the Hall sensor correspondingly changes, and accordingly the Hall sensor outputs changed current information to the controller so as to drive the stepping motor to give an initial movement speed to the ball screw, and a guide pipe moving forwards in the ball screw moves forwards in a blood vessel;
s3, the VR vascular system detects the distance between the tip of the catheter and the wall of the virtual blood vessel in real time, the distance can be divided into three conditions of a safe distance, a warning distance and a collision according to the value, after the information is fed back to the controller, the controller combines the initial movement speed of an operator according to the obtained distance information, and sends a signal to control the stepping motor so as to drive the ball screw; for example: when the catheter needs to be turned, the distance between the catheter and the blood vessel wall is reduced, the direction of the catheter tip hook is changed by rotating the spline shaft under the alarm of 'warning distance' or 'collision', and then the first control device and the second control device simultaneously control the forward and backward movement of the catheter, so that the steering of the catheter is finally realized, and the distance between the catheter tip and the blood vessel is adjusted; the VR vascular system gives a control signal to the ball screw through the second control device, the lead structure also gives a control signal to the ball screw through the first control device, a speed difference is generated between the control signals of the ball screw, and an operator obtains touch feedback through the speed difference;
and S4, stopping the movement of the ball screw when the ball screw moves forwards or backwards to reach the position of the limiter, and stopping the operation of the VR vascular system until the ball screw is controlled to return to the original point, so that the VR vascular system continues to operate.
The application combines the VR distance measurement information, optimizes the motion of the catheter by utilizing the catheter motion scaling principle, and provides a touch reminding function in the horizontal direction in hardware equipment.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the application, and is not meant to limit the scope of the application, but to limit the application to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the application are intended to be included within the scope of the application.
Claims (6)
1. The vascular intervention operation training system based on motion scaling comprises an operation device and a visualization device, wherein the operation device comprises a catheter (1), an axial operation structure for driving the catheter (1) to axially move and a guide structure for driving the catheter (1) to rotationally move, and is characterized in that a first control device for controlling the operation of the axial operation structure is arranged in the guide structure, and a second control device for controlling the operation of the axial operation structure is arranged in the visualization device;
the guide structure comprises a spline shaft (2), a first straight screw cap (3), a baffle plate (4), an encoder (5), a Hall sensor (11), a magnet (12) and a controller, wherein the Hall sensor (11), the magnet (12) and the controller form a first control device in the guide structure, the spline shaft (2) is coaxial with a guide pipe (1), the baffle plate (4) is arranged at one end of the first straight screw cap (3), one end of the spline shaft (2) is inserted into the first straight screw cap (3) from the other end of the first straight screw cap (3), one end of the guide pipe (1) is fixedly connected with the baffle plate (4), the encoder (5) is arranged at the other end of the spline shaft (2), the Hall sensor (11) is arranged on the side wall of the baffle plate (4) positioned in the first straight screw cap (3), the magnet (12) matched with the Hall sensor (11) is arranged on the end face of one end of the spline shaft (2), and the Hall sensor (11) is connected with a power structure for driving the axial operation structure through the controller;
a tactile feedback structure is arranged in the guide structure and comprises a spring (10) arranged between the Hall sensor (11) and the magnet (12), and the spring (10) is coaxial with the spline shaft (2);
the visual device gives a control signal to the axial operating mechanism through the second control device, the guide structure also gives a control signal to the axial operating mechanism through the first control device, the first control device and the second control device can generate speed difference between the control signals to the axial operating mechanism at the same time, and an operator obtains tactile feedback through the speed difference.
2. The vascular interventional operation training system based on motion scaling according to claim 1, wherein the visualization device is a VR vascular system, the VR vascular system displays the motion state of the catheter in the blood vessel, a state information feedback module is arranged in the VR vascular system, the state information feedback module is connected with a power structure for driving the axial operation structure to operate through a controller, and the state information feedback module and the controller form a second control device in the visualization device.
3. Vascular intervention training system based on motion scaling according to claim 1 or 2, wherein the axial operation structure is a ball screw (6), the guiding structure is mounted on the base of the ball screw (6), and the power structure driving the ball screw (6) to run is a stepper motor.
4. A vascular interventional procedure training system based on motion scaling according to claim 3, characterized in that the ball screw (6) is fitted with stoppers (7) at both ends.
5. Vascular intervention training system based on motion scaling according to claim 1, characterized in that a second straight screw cap (8) is mounted between the spline shaft (2) and the encoder (5), the encoder (5) being fixedly connected with the second straight screw cap (8).
6. Vascular intervention training system based on motion scaling according to claim 1, characterized in that the operating means further comprise an operating table (9), the catheter (1), the axial operating structure, the guiding structure being mounted on the operating table (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910305327.2A CN110009962B (en) | 2019-04-16 | 2019-04-16 | Vascular intervention operation training system based on motion scaling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910305327.2A CN110009962B (en) | 2019-04-16 | 2019-04-16 | Vascular intervention operation training system based on motion scaling |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110009962A CN110009962A (en) | 2019-07-12 |
| CN110009962B true CN110009962B (en) | 2023-10-10 |
Family
ID=67172283
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910305327.2A Active CN110009962B (en) | 2019-04-16 | 2019-04-16 | Vascular intervention operation training system based on motion scaling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110009962B (en) |
Families Citing this family (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 |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005084542A1 (en) * | 2004-03-04 | 2005-09-15 | Agency For Science, Technology And Research | Apparatus for medical and/or simulation procedures |
| CN101522115A (en) * | 2006-10-04 | 2009-09-02 | 路径医学科技公司 | Interventional catheters |
| CN101904771A (en) * | 2010-07-08 | 2010-12-08 | 中国科学院自动化研究所 | Control device of catheter delivery mechanism of minimally-invasive vascular intervention operation robot |
| CN103083783A (en) * | 2013-02-25 | 2013-05-08 | 中国科学院自动化研究所 | Clamping-based catheter or clamping-based guide wire operating device for vessel interventional operation |
| WO2014127598A1 (en) * | 2013-02-25 | 2014-08-28 | 中国科学院自动化研究所 | Blood vessel interventional operation conduit or guide wire control device |
| CN204428157U (en) * | 2014-12-24 | 2015-07-01 | 天津理工大学 | A kind of multidimensional information vision feedback system for blood vessel intervention operation aid system |
| CN106219182A (en) * | 2016-08-31 | 2016-12-14 | 广州瑞松智能科技股份有限公司 | The transporter of a kind of Transmission machine and product transfer approach |
| CN107106155A (en) * | 2017-04-01 | 2017-08-29 | 中国科学院深圳先进技术研究院 | The catheter propelling control method and catheter propelling equipment of blood vessel intervention operation robot |
| CN108305522A (en) * | 2018-04-09 | 2018-07-20 | 西南石油大学 | A kind of training equipment for blood vessel intervention operation operation guide |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6623436B2 (en) * | 2002-02-20 | 2003-09-23 | Transonic Systems, Inc. | Retrograde catheter with reduced injectate induced temperature offset |
| US20100312129A1 (en) * | 2005-01-26 | 2010-12-09 | Schecter Stuart O | Cardiovascular haptic handle system |
| CN108665759A (en) * | 2018-05-07 | 2018-10-16 | 上海斐旭电子设备有限公司 | A kind of blood vessel intervention operation simulated training system realization process |
| CN209947135U (en) * | 2019-04-16 | 2020-01-14 | 西南石油大学 | Vascular intervention operation training device |
-
2019
- 2019-04-16 CN CN201910305327.2A patent/CN110009962B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005084542A1 (en) * | 2004-03-04 | 2005-09-15 | Agency For Science, Technology And Research | Apparatus for medical and/or simulation procedures |
| CN101522115A (en) * | 2006-10-04 | 2009-09-02 | 路径医学科技公司 | Interventional catheters |
| CN101904771A (en) * | 2010-07-08 | 2010-12-08 | 中国科学院自动化研究所 | Control device of catheter delivery mechanism of minimally-invasive vascular intervention operation robot |
| CN103083783A (en) * | 2013-02-25 | 2013-05-08 | 中国科学院自动化研究所 | Clamping-based catheter or clamping-based guide wire operating device for vessel interventional operation |
| WO2014127598A1 (en) * | 2013-02-25 | 2014-08-28 | 中国科学院自动化研究所 | Blood vessel interventional operation conduit or guide wire control device |
| CN204428157U (en) * | 2014-12-24 | 2015-07-01 | 天津理工大学 | A kind of multidimensional information vision feedback system for blood vessel intervention operation aid system |
| CN106219182A (en) * | 2016-08-31 | 2016-12-14 | 广州瑞松智能科技股份有限公司 | The transporter of a kind of Transmission machine and product transfer approach |
| CN107106155A (en) * | 2017-04-01 | 2017-08-29 | 中国科学院深圳先进技术研究院 | The catheter propelling control method and catheter propelling equipment of blood vessel intervention operation robot |
| CN108305522A (en) * | 2018-04-09 | 2018-07-20 | 西南石油大学 | A kind of training equipment for blood vessel intervention operation operation guide |
Non-Patent Citations (1)
| Title |
|---|
| 王党校 ; 焦健 ; 张玉茹 ; 赵晓含 ; .计算机触觉:虚拟现实环境的力触觉建模和生成.计算机辅助设计与图形学学报.2016,第28卷(第06期),30-44. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110009962A (en) | 2019-07-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113729961B (en) | Main end operating handle of interventional operation robot | |
| JP5195054B2 (en) | Arm joint and robot having the same | |
| CN110009962B (en) | Vascular intervention operation training system based on motion scaling | |
| CN105082160B (en) | A kind of mobile robot's surgery systems with anti-collision | |
| CN113749779B (en) | Main end control device of interventional operation robot with error touch prevention function | |
| CN215874929U (en) | Control main terminal of interventional operation robot | |
| CN205497488U (en) | Indoor robot control system based on camera location | |
| CN115068825A (en) | Systems and methods for facilitating delivery of transcranial magnetic stimulation | |
| CN112587241B (en) | Main end guide wire/catheter operating device of vascular intervention surgical robot | |
| CN209947135U (en) | Vascular intervention operation training device | |
| CN202433395U (en) | Horizontal anti-collision protection device for sampling needle of biochemical analyzer | |
| CN113729960A (en) | Main end control module of interventional operation robot | |
| CN104417555B (en) | Automatic steering control device and its method | |
| CN108346337B (en) | Dual-purpose operation simulation training device | |
| CN101563716A (en) | Simulation device for tracking the respective motions of at least two instruments | |
| CN115500953B (en) | Magnetic control system and magnetic control method for vascular intervention guide wire | |
| CN211044621U (en) | Manual operation device based on blood vessel intervention operation training system | |
| CN213935257U (en) | Catheter manipulation active guiding mechanism and device for interventional operation training system | |
| CN114848154A (en) | Main hand clamping device with finger clamp force taking feedback and hardness feedback | |
| CN1176448C (en) | Analog scalpel unit | |
| CN107380061A (en) | Pedestrian impact perceptron | |
| CN210795712U (en) | Ampoule clamping device and control system thereof | |
| CN217772295U (en) | Endoscope | |
| CN111047940A (en) | Manual operation device based on blood vessel intervention operation training system | |
| CN112562445A (en) | Catheter manipulation active guiding mechanism and device for interventional operation training system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |