CN112289115A - Laparoscope clamp for virtual simulation training - Google Patents
Laparoscope clamp for virtual simulation training Download PDFInfo
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- CN112289115A CN112289115A CN202011204124.3A CN202011204124A CN112289115A CN 112289115 A CN112289115 A CN 112289115A CN 202011204124 A CN202011204124 A CN 202011204124A CN 112289115 A CN112289115 A CN 112289115A
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- sleeve component
- forceps
- clamp handle
- clamp
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- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 238000001514 detection method Methods 0.000 claims description 5
- 239000011248 coating agent Substances 0.000 claims description 3
- 238000000576 coating method Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 230000009471 action Effects 0.000 abstract description 5
- 238000004088 simulation Methods 0.000 abstract description 3
- 238000002357 laparoscopic surgery Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 210000000683 abdominal cavity Anatomy 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 208000032544 Cicatrix Diseases 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 230000037387 scars Effects 0.000 description 1
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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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- Physics & Mathematics (AREA)
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- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Surgical Instruments (AREA)
Abstract
The invention relates to medical simulation training equipment, in particular to a laparoscopic forceps for virtual simulation training, which comprises a forceps handle component, an outer sleeve component, a knob component, a lower sleeve component, a movable deflection rod and a base platform, wherein the forceps handle component comprises a forceps frame body, a fixed forceps handle, a movable forceps handle and a forceps handle rotating mechanism, the fixed forceps handle is fixedly connected to the rear side of the forceps frame body, the movable forceps handle is rotatably connected with the fixed forceps handle through the forceps handle rotating mechanism, a connecting beam frame is fixedly installed on the right side of the bottom of the forceps frame body, the bottom of the connecting beam frame is fixedly connected with the outer sleeve component, and a central sleeve component is installed on the inner side of the outer sleeve component. The invention can simulate the operation hand feeling of a real clamp through the clamp handle assembly, and simulate the meshing action of the real laparoscope clamp through the relative motion between the movable clamp handle and the fixed clamp handle.
Description
Technical Field
The invention relates to medical simulation training equipment, in particular to a laparoscopic forceps for virtual simulation training.
Background
The laparoscopic surgery is a novel surgery different from the conventional open surgery, and in the surgical process, the body wall does not need to be completely cut, but the laparoscope is introduced, so that a sufficient surgical operation space is obtained in the abdominal cavity through corresponding operation, the abdominal cavity condition of a patient is observed under the guidance of the laparoscope, and meanwhile, small surgical equipment with a long handle is inserted under the guidance of the laparoscope, so that the same surgical operation as the conventional surgery is completed. By adopting the laparoscope technology, the patient can recover more quickly, the body wall scars are obviously reduced, and the same operation effect as the traditional operation can be obtained. However, since the laparoscopic surgery requires the cooperation of a plurality of operating instruments, the dependence on auxiliary equipment is stronger, and thus, new and higher requirements are put on the operating level of medical staff. Provides the operation training aiming at medical care personnel, improves the accuracy level and the proficiency level of the operation, and becomes the problem which needs to be solved urgently in the field of laparoscopic surgery. In particular, as for a clamp commonly used in laparoscopic surgery, in order to improve the proficiency and accuracy of the actual medical care personnel operation, there is no laparoscopic clamp for virtual simulation training which can effectively perform multi-degree-of-freedom digital simulation operation.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art and provides a laparoscopic forceps for virtual simulation training.
The invention discloses a laparoscopic forceps for virtual simulation training, which comprises a forceps handle component, an outer sleeve component, a knob component, a lower sleeve component, a movable deflection rod and a base platform, wherein the forceps handle component comprises a forceps frame body, a fixed forceps handle, a movable forceps handle and a forceps handle rotating mechanism, the fixed forceps handle is fixedly connected to the rear side of the forceps frame body, the movable forceps handle is rotatably connected with the fixed forceps handle through the forceps handle rotating mechanism, a connecting beam frame is fixedly arranged on the right side of the bottom of the forceps frame body, the outer sleeve component is fixedly connected to the bottom of the connecting beam frame, a central sleeve component is arranged on the inner side of the outer sleeve component, the knob component is rotatably sleeved on the upper part of the central sleeve component, the lower sleeve component is rotatably sleeved on the lower part of the central sleeve component, the sleeve rotary measuring device is arranged inside the lower sleeve assembly and used for detecting relative rotation between the lower sleeve assembly and the central sleeve assembly, the bottom of the lower sleeve assembly is fixedly connected with the upper end of the movable deflection rod, the base table is fixedly installed on the ground, the upper portion of the base table is provided with the socket ball head mechanism, the movable deflection rod is inserted into the socket ball head mechanism, and the lower end of the movable deflection rod penetrates through the socket ball head mechanism and is connected with the force feedback system.
Furthermore, a clamp handle rotation detection device is arranged in the clamp handle rotation mechanism and used for detecting the relative rotation angle between the fixed clamp handle and the movable clamp handle in real time.
Further, the connecting beam frame adopts an outer auricle-shaped arch structure, and an installation space of the knob assembly is formed in the arch inner side direction of the connecting beam frame.
Furthermore, the center sleeve component is inserted into the outer sleeve component in an interference fit mode, and the center sleeve component is fixedly connected with the outer sleeve component through a threaded fastener.
Further, a knob rotation measuring device is installed on the lower side of the bottom of the pliers frame body and used for detecting relative rotation between the knob assembly and the central sleeve assembly.
Further, the ball joint sleeving mechanism comprises a universal ball joint mechanism, and a jack is arranged on a central ball body of the ball joint sleeving mechanism.
Furthermore, a sliding guide sleeve assembly is arranged in the jack, and a wear-resistant coating is arranged on the hole wall of the sliding guide sleeve assembly.
Further, the center sleeve assembly is rotatably connected with the knob assembly through a bearing type revolute pair to realize coaxial rotation, and the center sleeve assembly is rotatably connected with the lower sleeve assembly through a bearing type revolute pair to realize coaxial rotation.
Compared with the prior art, the invention has the following advantages:
(1) the invention can simulate the operation hand feeling of a real clamp through the clamp handle assembly, simulate the clamping action of the real laparoscope clamp through the relative motion between the movable clamp handle and the fixed clamp handle, and provide a force feedback process under a virtual environment under the control of a system through the force feedback module arranged in the clamp handle assembly, thereby improving the force sensing effect;
(2) according to the invention, the outer sleeve assembly, the lower sleeve assembly and the knob assembly are utilized to form angle control and pose sensing functions, the active control of the clamp angle of the laparoscopic clamp in a virtual environment system can be realized by sensing the movement of the knob assembly, and the passive clamp pose sensing function can be realized by sensing the relative movement of the sleeve structure.
(3) The invention realizes the free movement of the movable deflection rod in a three-dimensional space through the ball joint sleeving mechanism, provides good movement constraint for the operation of the clamp, and simultaneously provides movement support for the force feedback equipment connected with the bottom end.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the internal structure of FIG. 1 according to the present invention;
1-a forceps handle assembly, 11-a forceps body, 111-a connecting beam frame, 12-a fixed forceps handle, 13-a movable forceps handle, 14-a forceps handle rotating mechanism, 2-an outer sleeve assembly, 21-a central sleeve assembly, 3-a knob assembly, 31-a knob rotation measuring device, 4-a lower sleeve assembly, 41-a sleeve rotation measuring device, 5-a movable deflection rod, 6-a base platform and 61-a socket ball head mechanism.
Detailed Description
As shown in fig. 1-2, the invention discloses a laparoscopic forceps for virtual simulation training, comprising a forceps handle assembly 1, an outer sleeve assembly 2, a knob assembly 3, a lower sleeve assembly 4, a movable deflection rod 5 and a base table 6, wherein the forceps handle assembly 1 comprises a forceps frame body 11, a fixed forceps handle 12, a movable forceps handle 13 and a forceps handle rotation mechanism 14, the fixed forceps handle 12 is fixedly connected to the rear side of the forceps frame body 11, the movable forceps handle 13 is rotatably connected with the fixed forceps handle 12 through the forceps handle rotation mechanism 14, a connecting beam frame 111 is fixedly installed on the right side of the bottom of the forceps frame body 11, the bottom of the connecting beam frame 111 is fixedly connected with the outer sleeve assembly 2, a central sleeve assembly 21 is installed on the inner side of the outer sleeve assembly 2, the knob assembly 3 is rotatably sleeved on the upper portion of the central sleeve assembly 21, the lower portion of the central sleeve assembly 21 is rotatably sleeved on the lower sleeve assembly 4, the sleeve rotation measuring device 41 is arranged inside the lower sleeve assembly 4, the sleeve rotation measuring device 41 is used for detecting relative rotation between the lower sleeve assembly 4 and the central sleeve assembly 21, the bottom of the lower sleeve assembly 4 is fixedly connected with the upper end of the movable deflection rod 5, the base table 6 is fixedly installed on the ground, the socket ball head mechanism 61 is installed on the upper portion of the base table 6, the movable deflection rod 5 is inserted into the socket ball head mechanism 61, and the lower end of the movable deflection rod 5 penetrates through the socket ball head mechanism 61 to be connected with a force feedback system. The clamp handle rotating mechanism 14 is internally provided with a clamp handle rotating detection device, in order to improve the force feedback effect and simulate the reaction force of different human tissues clamped by the clamp, the clamp handle rotating mechanism 14 is internally connected with a force feedback motor, the force feedback motor can perform force sensing signal feedback control through a computer virtual simulation system, and the clamp handle rotating detection device is used for detecting the relative rotation angle between the fixed clamp handle 12 and the movable clamp handle 13 in real time. The connecting beam frame 111 adopts an auricle-shaped arch structure, and the arch inner side direction of the connecting beam frame 111 forms an installation space of the knob assembly 3. The center sleeve component 21 is inserted into the outer sleeve component 2 in an interference fit manner, and the center sleeve component 21 is fixedly connected with the outer sleeve component 2 through a threaded fastener. A knob rotation measuring device 31 is installed on the lower side of the bottom of the caliper holder body 11, and the knob rotation measuring device 31 is used for detecting the relative rotation between the knob assembly 3 and the central sleeve assembly 21. The ball joint sleeving mechanism 61 comprises a universal ball joint mechanism, and a jack is arranged on a central ball body of the ball joint sleeving mechanism 61. And a sliding guide sleeve assembly is arranged in the jack, and a wear-resistant coating is arranged on the hole wall of the sliding guide sleeve assembly. The center sleeve assembly 21 and the knob assembly 3 are connected through a bearing type revolute pair to realize coaxial rotation, and the center sleeve assembly 21 and the lower sleeve assembly 4 are connected through a bearing type revolute pair to realize coaxial rotation.
When the clamp is actually used, the equipment is connected with an external force feedback system and a virtual simulation computer display system, a user can operate the clamp handle assembly 1 to simulate real operation action, the opening and closing actions of the virtual clamp can be correspondingly displayed in the virtual simulation computer display system, and the force feedback system can provide corresponding force feedback aiming at the perception of different human tissues in a virtual image, so that real operation force is achieved. Meanwhile, in the process of spatial movement of the movable deflection rod 5, the lower sleeve component 4 and the central sleeve component 21 continuously rotate relatively, real-time movement data of the degree of freedom can be detected through the sleeve rotation measuring device 41, so that movement pose data are formed and provided for a virtual simulation computer display system, so that a virtual simulation moving image is formed, meanwhile, in order to achieve active adjustment of the pose of the clamp, the movement of the knob component 3 can be reflected on the virtual simulation moving image, free spatial movement of the movable deflection rod 5 can be achieved through the drawing action of the movable deflection rod 5 relative to a central sphere of the socket ball head mechanism 61, and the processes of pose detection and force feedback of the movable deflection rod 5 can be completed through a force feedback system connected outside and corresponding components of the movable deflection rod 5 in a cooperative mode. It will be apparent to those skilled in the art that the present invention can be flexibly configured according to the actual application without departing from the technical spirit of the present invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The utility model provides a peritoneoscope clamp for virtual simulation training which characterized in that: comprises a clamp handle component, an outer sleeve component, a knob component, a lower sleeve component, a movable deflection rod and a base platform, wherein the clamp handle component comprises a clamp frame body, a fixed clamp handle, a movable clamp handle and a clamp handle rotation mechanism, the fixed clamp handle is fixedly connected with the rear side of the clamp frame body, the movable clamp handle is rotatably connected with the fixed clamp handle through the clamp handle rotation mechanism, a connecting beam frame is fixedly arranged on the right side of the bottom of the clamp frame body, the bottom of the connecting beam frame is fixedly connected with the outer sleeve component, a central sleeve component is arranged on the inner side of the outer sleeve component, the knob component is rotatably sleeved on the upper part of the central sleeve component, the lower sleeve component is rotatably sleeved on the lower part of the central sleeve component, a sleeve rotation measuring device is arranged inside the lower sleeve component and is used for detecting the relative rotation between the lower sleeve component and the central sleeve component, the bottom of the lower sleeve assembly is fixedly connected with the upper end of the movable deflection rod, the base platform is fixedly installed on the ground, the upper portion of the base platform is provided with the socket ball head mechanism, the movable deflection rod is inserted into the socket ball head mechanism, and the lower end of the movable deflection rod penetrates through the socket ball head mechanism to be connected with the force feedback system.
2. The laparoscopic forceps for virtual simulation training as claimed in claim 1, wherein: the clamp handle rotation detection device is arranged in the clamp handle rotation mechanism and used for detecting the relative rotation angle between the fixed clamp handle and the movable clamp handle in real time.
3. The laparoscopic forceps for virtual simulation training as claimed in claim 1, wherein: the connecting beam frame adopts an outer auricle-shaped arch structure, and the arch inner side direction of the connecting beam frame forms an installation space of the knob assembly.
4. The laparoscopic forceps for virtual simulation training as claimed in claim 1, wherein: the center sleeve component is inserted into the outer sleeve component in an interference fit mode, and the center sleeve component is fixedly connected with the outer sleeve component through a threaded fastener.
5. The laparoscopic forceps for virtual simulation training as claimed in claim 1, wherein: the rotary knob rotation measuring device is mounted on the lower side of the bottom of the pliers frame body and used for detecting relative rotation between the rotary knob assembly and the central sleeve assembly.
6. The laparoscopic forceps for virtual simulation training as claimed in claim 1, wherein: the socket joint ball head mechanism comprises a universal ball head joint mechanism, and a central ball body of the socket joint ball head mechanism is provided with a jack.
7. The laparoscopic forceps for virtual simulation training as claimed in claim 6, wherein: and a sliding guide sleeve assembly is arranged in the jack, and a wear-resistant coating is arranged on the hole wall of the sliding guide sleeve assembly.
8. The laparoscopic forceps for virtual simulation training as claimed in claim 1, wherein: the center sleeve assembly is connected with the knob assembly through a bearing type revolute pair in a rotating mode to achieve coaxial rotation, and the center sleeve assembly is connected with the lower sleeve assembly through a bearing type revolute pair in a rotating mode to achieve coaxial rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011204124.3A CN112289115A (en) | 2020-11-02 | 2020-11-02 | Laparoscope clamp for virtual simulation training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011204124.3A CN112289115A (en) | 2020-11-02 | 2020-11-02 | Laparoscope clamp for virtual simulation training |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112289115A true CN112289115A (en) | 2021-01-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011204124.3A Pending CN112289115A (en) | 2020-11-02 | 2020-11-02 | Laparoscope clamp for virtual simulation training |
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| CN (1) | CN112289115A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040024418A1 (en) * | 2000-11-03 | 2004-02-05 | Irion Klaus M. | Simulator apparatus with at least two degrees of freedom of movement for an instrument |
| CN202003575U (en) * | 2011-01-20 | 2011-10-05 | 中国人民解放军第三军医大学第一附属医院 | Skill training device for simulation phantom peritoneoscope |
| CN103456223A (en) * | 2012-06-01 | 2013-12-18 | 苏州敏行医学信息技术有限公司 | Laparoscopic surgery simulation system based on force feedback |
| CN204406858U (en) * | 2014-12-21 | 2015-06-17 | 合肥德铭电子有限公司 | A kind of endoscope simulation training system with gentle force feedback |
| CN104900124A (en) * | 2015-06-26 | 2015-09-09 | 中国科学院合肥物质科学研究院 | Minimally invasive operation simulation apparatus based on magnetic dampers |
| CN216596567U (en) * | 2020-11-02 | 2022-05-24 | 北京众绘虚拟现实技术研究院有限公司 | Laparoscope clamp for virtual simulation training |
-
2020
- 2020-11-02 CN CN202011204124.3A patent/CN112289115A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040024418A1 (en) * | 2000-11-03 | 2004-02-05 | Irion Klaus M. | Simulator apparatus with at least two degrees of freedom of movement for an instrument |
| CN202003575U (en) * | 2011-01-20 | 2011-10-05 | 中国人民解放军第三军医大学第一附属医院 | Skill training device for simulation phantom peritoneoscope |
| CN103456223A (en) * | 2012-06-01 | 2013-12-18 | 苏州敏行医学信息技术有限公司 | Laparoscopic surgery simulation system based on force feedback |
| CN204406858U (en) * | 2014-12-21 | 2015-06-17 | 合肥德铭电子有限公司 | A kind of endoscope simulation training system with gentle force feedback |
| CN104900124A (en) * | 2015-06-26 | 2015-09-09 | 中国科学院合肥物质科学研究院 | Minimally invasive operation simulation apparatus based on magnetic dampers |
| CN216596567U (en) * | 2020-11-02 | 2022-05-24 | 北京众绘虚拟现实技术研究院有限公司 | Laparoscope clamp for virtual simulation training |
Non-Patent Citations (1)
| Title |
|---|
| 付志宇: "力触觉反馈系统的虚拟现实应用研究", 万方学位全文数据库, 1 March 2016 (2016-03-01) * |
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