CN112754550B - Machine control system - Google Patents
Machine control system Download PDFInfo
- Publication number
- CN112754550B CN112754550B CN202110370149.9A CN202110370149A CN112754550B CN 112754550 B CN112754550 B CN 112754550B CN 202110370149 A CN202110370149 A CN 202110370149A CN 112754550 B CN112754550 B CN 112754550B
- Authority
- CN
- China
- Prior art keywords
- angle
- driving shaft
- driving
- fixedly connected
- drive
- 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
- 238000001514 detection method Methods 0.000 claims abstract description 38
- 230000008878 coupling Effects 0.000 claims description 22
- 238000010168 coupling process Methods 0.000 claims description 22
- 238000005859 coupling reaction Methods 0.000 claims description 22
- 238000004088 simulation Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 238000002674 endoscopic surgery Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 208000003618 Intervertebral Disc Displacement Diseases 0.000 description 1
- 206010050296 Intervertebral disc protrusion Diseases 0.000 description 1
- 238000011846 endoscopic investigation Methods 0.000 description 1
- 238000001839 endoscopy Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 208000015122 neurodegenerative disease Diseases 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/00296—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means mounted on an endoscope
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
- A61B2017/00323—Cables or rods
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/0034—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means adapted to be inserted through a working channel of an endoscope
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The present application provides a machine control system. The first angle detection device is fixedly connected with a first driving shaft of the first driving device. The first angle detection device is used for detecting the rotation angle of the first driving shaft and obtaining a first angle. The second driving device is fixedly connected with the first driving shaft. The extending direction of the second driving shaft of the second driving device is perpendicular to the extending direction of the first driving shaft. The second angle detection device is used for detecting the rotation angle of the second driving shaft and obtaining a second angle. The first end of the connecting rod component is fixedly connected with the second driving shaft. The center ball is fixedly connected with the second end of the connecting rod assembly. The control device is electrically connected with the first driving device, the first angle detection device, the second driving device and the second angle detection device respectively. The control device is used for controlling the first driving shaft and the second driving shaft to move according to a given command, and determining whether to release the enabling state of the first driving shaft and the second driving shaft according to the first angle and the second angle.
Description
Technical Field
The application relates to the field of medical simulation teaching, in particular to a mechanical control system.
Background
Percutaneous spinal endoscopic surgery, which is an endoscopic technique rapidly developed in recent years, has gradually become a main surgical treatment mode for degenerative diseases of cervical and lumbar vertebrae, especially lumbar intervertebral disc protrusion. The correct establishment of the endoscopic access and the limits of the safety zone during the operation determine the accuracy and safety of the operation. In order to accelerate the advanced culture of the clinician in the spinal endoscopy technology, training is usually required to be performed on procedures such as the channel establishment under the endoscope of the spinal endoscope.
In the traditional technology, training for establishing an under-mirror channel of a spinal endoscope is directly established by a clinician in an under-mirror process manually, and the accuracy of establishing the channel cannot be guaranteed.
Disclosure of Invention
Based on this, it is necessary to provide a mechanical control system to solve the problem that the accuracy of the under-mirror channel establishment of the existing spinal endoscope cannot be guaranteed.
A mechanical control system for endoscope simulation training, comprising:
a first driving device;
the first angle detection device is fixedly connected with a first driving shaft of the first driving device and used for detecting the rotating angle of the first driving shaft and obtaining a first angle;
the second driving device is fixedly connected with the first driving shaft, and the extending direction of a second driving shaft of the second driving device is vertical to the extending direction of the first driving shaft;
the second angle detection device is fixedly connected with the second driving shaft and used for detecting the rotating angle of the second driving shaft and obtaining a second angle;
the first end of the connecting rod assembly is fixedly connected with the second driving shaft;
the central ball is fixedly connected with the second end of the connecting rod assembly; and
and the control device is respectively electrically connected with the first driving device, the first angle detection device, the second driving device and the second angle detection device, is used for controlling the first driving shaft and the second driving shaft to move according to a given command, and determines whether to release the enabling state of the first driving shaft and the second driving shaft according to the first angle and the second angle.
In one embodiment, the control device is configured to control the first drive shaft and the second drive shaft to move according to the given instruction, determine whether the first drive shaft and the second drive shaft move to a set angle according to the first angle and the second angle, and release the enabled state of the first drive shaft and the second drive shaft if it is determined that the first drive shaft and the second drive shaft move to the set angle.
In one embodiment, the machine control system further comprises:
the main mirror is fixedly connected with the central ball; and
the third angle detection device is arranged on the main mirror and electrically connected with the control device, and is used for detecting the rotation angle of the central ball and obtaining a third angle;
the control device determines whether to control the first drive shaft and the second drive shaft to enter an enabled state according to the third angle and a set angle.
In one embodiment, the control device compares the third angle with a set angle;
if the third angle is equal to the set angle, the control device controls the first driving shaft and the second driving shaft to enter the enabling state;
if the third angle is smaller than the set angle, the control device releases the enabled states of the first drive shaft and the second drive shaft.
In one embodiment, the machine control system further comprises:
one end of the central rod sequentially penetrates through the central ball and the primary mirror and is fixedly connected with a surgical tool; and
and the force feedback device is fixedly connected with the other end of the center rod, and the force feedback device and the center ball rotate synchronously.
In one embodiment, the connecting rod assembly comprises:
the first end of the first coupling is fixedly connected with the second driving shaft;
the first end of the first connecting rod is rotatably connected with the second end of the first coupler;
the first end of the second connecting rod is rotatably connected with the second end of the first connecting rod, the second end of the second connecting rod is fixedly connected with the center ball, and the joint of the first end of the first coupler and the second driving shaft, the ball center of the center ball and the two ends of the first connecting rod form four vertexes of a parallelogram.
In one embodiment, the second drive device is fixedly connected to the first drive shaft by a second coupling.
In one embodiment, the first driving device and the second driving device are both stepping motors.
In one embodiment, the first angle detection device and the second angle detection device are both angle encoders.
A machine control system, comprising:
a first driving device;
the second driving device is fixedly connected with the first driving shaft of the first driving device, and the extending direction of the second driving shaft of the second driving device is vertical to the extending direction of the first driving shaft;
the first end of the connecting rod assembly is fixedly connected with the second driving shaft;
the central ball is fixedly connected with the second end of the connecting rod assembly;
the gyroscope is arranged on the central ball and used for detecting the rotation angle of the central ball and obtaining a fourth angle; and
and the control device is respectively electrically connected with the first driving device, the second driving device and the gyroscope, and is used for controlling the first driving shaft and the second driving shaft to move according to a given instruction and determining whether to release the enabling state of the first driving shaft and the second driving shaft according to the fourth angle.
Compared with the prior art, in the mechanical control system, the first angle detection device detects the rotation angle of the first driving shaft of the first driving device and obtains the first angle. The second angle detection device detects a rotation angle of a second drive shaft of the second drive apparatus and obtains a second angle. The central ball is fixedly connected with the second driving shaft through the connecting rod assembly. The control device is used for controlling the first driving shaft and the second driving shaft to move according to given instructions and determining whether to release the enabling state of the first driving shaft and the second driving shaft according to the first angle and the second angle. According to the method and the device, the first driving device and the second driving device are controlled by the control device to automatically establish the channel under the lens in the spinal endoscopic surgery training, so that the accuracy of establishing the channel under the lens and the stability of operation under the lens can be improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a machine control system according to an embodiment of the present disclosure;
FIG. 2 is a block circuit diagram of a machine control system provided in an embodiment of the present application;
FIG. 3 is a first schematic diagram illustrating a portion of a mechanical control system according to an embodiment of the present disclosure;
FIG. 4 is a schematic structural diagram of a center ball according to an embodiment of the present application;
FIG. 5 is an exploded view of a center ball according to one embodiment of the present application;
fig. 6 is a schematic structural diagram of a part of a mechanical control system according to an embodiment of the present disclosure;
fig. 7 is a schematic view of a part of a mechanical control system according to an embodiment of the present disclosure;
FIG. 8 is a schematic diagram illustrating a portion of a mechanical control system according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of a center ball according to another embodiment of the present application.
Description of reference numerals:
10. a machine control system; 101. a framework; 110. a first driving device; 120. a first angle detection device; 210. a second driving device; 211. a second coupling; 220. a second angle detection device; 300. a connecting rod assembly; 310. a first coupling; 320. a first link; 330. a second link; 400. a center ball; 401. a gyroscope; 410. a central ball body; 420. a central ball is buckled; 421. the central ball is buckled; 422. a central ball lower buckle; 500. a control device; 610. a primary mirror; 620. a third angle detection device; 701. a surgical tool; 702. a sleeve; 703. a cannula sensor; 710. a center pole; 711. a snap connection; 712. a quick-change connector; 720. a force feedback device; 721. a force feedback fixture.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and those skilled in the art will be able to make similar modifications without departing from the spirit of the application and it is therefore not intended to be limited to the embodiments disclosed below.
The numbering of the components as such, e.g., "first", "second", etc., is used herein for the purpose of describing the objects only, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present application and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be considered as limiting the present application.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 and 2, an embodiment of the present application provides a machine control system 10. The mechanical control system 10 is applied to endoscope simulation training. The mechanical control system 10 includes, but is not limited to, training procedures applied to the sub-scope channel setup of a spinal endoscope. The machine control system 10 includes: a first driving device 110, a first angle detecting means 120, a second driving device 210, a second angle detecting means 220, a link assembly 300, a center ball 400, and a control device 500. The first angle detection device 120 is fixedly connected to a first driving shaft of the first driving apparatus 110. The first angle detection device 120 is used for detecting the rotation angle of the first driving shaft and obtaining a first angle. The second driving device 210 is fixedly connected to the first driving shaft. The second driving shaft of the second driving device 210 extends in a direction perpendicular to the first driving shaft.
The second angle detection means 220 is fixedly connected to the second drive shaft. The second angle detecting means 220 is used for detecting the rotation angle of the second driving shaft and obtaining a second angle. A first end of the connecting rod assembly 300 is fixedly connected to the second drive shaft. The center ball 400 is fixedly coupled to the second end of the link assembly 300. The control device 500 is electrically connected to the first driving device 110, the first angle detection device 120, the second driving device 210, and the second angle detection device 220, respectively. The control device 500 is configured to control the first and second actuating shafts to move according to a given command, and determine whether to release the enabled state of the first and second actuating shafts according to the first and second angles.
It is understood that the specific structure of the first driving device 110 is not limited as long as it has a function of driving the second driving device 210 to rotate. In one embodiment, the first driving device 110 may be a servo motor. The first driving device 110 may also be a stepping motor. It is to be understood that the specific structure of the second driving means 210 is not limited as long as it has a function of driving the center ball 400 to rotate. In one embodiment, the second driving device 210 may be a servo motor. The second driving device 210 may also be a stepping motor. The first driving device 110 and the second driving device 210 can both adopt 42MM high-precision two-phase four-wire speed reduction stepping motors, the stepping angle is 0.18, the rated torque is 5.3N.m, the length of the motor body is 72.3MM, and the installation space can be reduced by adopting the stepping motors.
In one embodiment, the second driving device 210 may be fixedly connected with the first driving shaft through a second coupling 211. Specifically, the second coupling 211 may be fixedly connected to the first driving shaft through a snap connection, and the second coupling 211 is fixed to the second driving device 210 through a screw. In one embodiment, the second driving shaft of the second driving device 210 extends in a direction perpendicular to the first driving shaft. That is, the extension direction of the body of the second driving device 210 is perpendicular to the extension direction of the body of the first driving device 110.
It is to be understood that the specific structure of the first angle detecting device 120 is not limited as long as it has a function of detecting the rotation angle of the first driving shaft and obtaining the first angle. In one embodiment, the first angle detection device 120 may be an angle encoder. Specifically, the angle encoder may be fixed to the first driving shaft by a screw-fitting coupling member. When the first driving shaft moves, the angle encoder may detect a rotation angle of the first driving shaft in real time and obtain a first angle, and may transmit the first angle to the control device 500, so that the control device 500 performs data processing.
It is to be understood that the specific structure of the second angle detecting device 220 is not limited as long as it has a function of detecting the rotation angle of the second driving shaft and obtaining the second angle. In one embodiment, the second angle detection device 220 may be an angle encoder. Specifically, the angle encoder may be fixed to the second driving shaft by a screw-fitting coupling member. When the second driving shaft moves, the angle encoder may detect a rotation angle of the second driving shaft in real time and obtain a second angle, and may transmit the second angle to the control device 500, so that the control device 500 performs data processing.
It is to be understood that the manner in which the center ball 400 is fixedly coupled to the second end of the connecting rod assembly 300 is not limited as long as the center ball 400 is fixedly coupled to the second end of the connecting rod assembly 300. In one embodiment, the center ball 400 may be fixedly coupled to the second end of the connecting rod assembly 300 by a bearing. Similarly, the first end of the connecting rod assembly 300 may be fixedly connected to the second driving shaft by a bearing.
It is to be understood that the specific structure of the control device 500 is not limited as long as it has a function of controlling the movement of the first and second drive shafts according to a given command and determining whether to release the enabled state of the first and second drive shafts according to the first and second angles. In one embodiment, the control device 500 may employ an integrated chip (e.g., Stm 32F 407ZGT6 chip). The control device 500 may also be a processor or a controller. In one embodiment, the control device 500 may save the device installation space by using an integrated chip.
In one embodiment, the given instruction refers to an instruction sent to the control device 500 by an upper computer. When the control device 500 receives the given command, the control device 500 may control the first driving device 110 and the second driving device 210 to start operating according to the given command. I.e. when the first drive shaft in the first drive 110 and the second drive shaft in the second drive 210 start to rotate. At this time, the first angle detection means 120 synchronously monitors the angle of rotation of the first driving shaft (i.e., a first angle), and the second angle detection means 220 synchronously monitors the angle of rotation of the first driving shaft (i.e., a second angle). When the first and second driveshafts move to the position angle specified by the given instruction, the control device 500 may determine whether to release the enabled states of the first and second driveshafts based on the first and second angles.
The control device 500 may determine whether the first and second driving shafts move to a set angle according to the first and second angles. The set angle is the position angle specified by the given instruction. If the first angle and the second angle reflect that the first driving shaft and the second driving shaft have been carried to the set angle, the control device 500 releases the enabled state of the first driving shaft and the second driving shaft. On the contrary, if the first angle and the second angle reflect that the first driving shaft and the second driving shaft are not moved to the set angle, the control device 500 does not release the enabled states of the first driving shaft and the second driving shaft. Therefore, the channel under the endoscope in the spinal endoscopic surgery training can be established through the method, so that the accuracy of establishing the channel under the endoscope and the stability of operation under the endoscope can be improved.
In one embodiment, the enabled state refers to a state in which the first driving shaft of the first driving device 110 and the second driving shaft of the second driving device 210 are restricted from rotating. I.e. the first and second drive shafts in the enabled state are not free to rotate. The enabled state of releasing the first and second driveshafts means that the first and second driveshafts are in the disabled state. I.e. the first drive shaft and the second drive shaft may rotate freely.
In this embodiment, the first angle detection device 120 detects a rotation angle of the first driving shaft of the first driving apparatus 110 and obtains a first angle. The second angle detecting device 220 detects a rotation angle of a second driving shaft of the second driving apparatus 210 and obtains a second angle. The center ball 400 is fixedly coupled to the second driving shaft by the link assembly 300. The control device 500 is configured to control the first and second actuating shafts to move according to a given command, and determine whether to release the enabled state of the first and second actuating shafts according to the first and second angles. In the embodiment, the control device 500 controls the first driving device 110 and the second driving device 210 to automatically establish the under-mirror channel in the spinal endoscopic surgery training, so that the accuracy of establishing the under-mirror channel and the stability of under-mirror operation can be improved.
In one embodiment, referring to FIG. 3, the machine control system 10 further includes a frame 101. The first driving means 110, the second driving means 210, the lever assembly 300, and the center ball 400 may be fixed to the frame 101. The frame 101 may be used to fixedly support the components (i.e., the first driving device 110, the second driving device 210, the rod assembly 300, and the center ball 400). In one embodiment, the frame 101 may be an outer frame made of plastic. The framework 101 is made of plastic materials, so that the overall weight can be reduced, and meanwhile, the cost can be saved.
In one embodiment, referring to fig. 4 and 5, the center ball 400 may include a center ball body 410 and a center ball catch 420. The center ball body 410 is fixed on the frame 101 by the center ball catch 420. The center ball catch 420 may include a center ball upper catch 421 and a center ball lower catch 422 fixedly connected to the center ball upper catch 421. The center under ball snap 422 may be fixed to the frame 101 by screws. The central ball body 410 is put into the central ball lower snap 422, and then the central ball upper snap 421 is fixedly connected with the central ball lower snap 422 through a screw. Meanwhile, the central ball body 410 can perform three-dimensional angular orbiting around the center of the central ball body 410 inside the central ball catch 420. Thereby facilitating the training of the under-mirror channel establishment of the spinal endoscope for the clinician. In one embodiment, the center ball 400 may be replaced with a universal bearing.
Referring to FIG. 6, in one embodiment, the machine control system 10 further includes: a main mirror 610, and a third angle detection device 620. The main mirror 610 is fixedly coupled to the center ball 400. The third angle detecting device 620 is disposed at the main mirror 610. The third angle detection device 620 is electrically connected to the control apparatus 500. The third angle detecting device 620 is configured to detect a rotation angle of the center ball 400 and obtain a third angle. The control device 500 determines whether to control the first drive shaft and the second drive shaft to enter the enabled state according to the third angle and the set angle.
In one embodiment, the primary mirror 610 may be fixedly coupled to the central ball 400 by a sleeve 702. One end of the primary mirror 610 extends into the sleeve 702 along one end of the sleeve 702. The other end of the sleeve 702 extends into the central ball 400. In one embodiment, the third angle detection device 620 may be a magnetic encoder. The third angle detecting device 620 may also be a sensor having a function of detecting an angle.
When the enabled states of the first driving apparatus 110 and the second driving apparatus 210 are released, the third angle detecting device 620 may detect the rotation angle of the center ball 400 in real time and obtain a third angle, and transmit the third angle to the control apparatus 500. The control device 500 may determine whether to control the first and second driving shafts to enter the enabled state according to a third angle and a set angle. Specifically, the control device 500 may compare the third angle with a set angle. The set angle is the position angle specified by the given instruction. And is also a boundary angle of the restriction region when the center ball 400 rotates.
If the control device 500 determines that the third angle is equal to the set angle, that is, the rotation angle of the central ball 400 is equal to the boundary angle of the restricted area, the control device 500 controls the first driving shaft and the second driving shaft to enter the enabled state, so as to achieve the safety restriction on the central ball 400 and prevent the central ball 400 from moving outside the restricted area. The restricted area refers to the safe working area of the simulated surgery. Specifically, the limited region is a region where the movement angle of the first drive shaft and the second drive shaft within the set angle is located, and is the limited region. Within the set angle means that the movement angle is smaller than the set angle.
If the control device 500 determines that the third angle is smaller than the set angle, the control device 500 may release the enabled states of the first and second driving axes. That is, when the third angle is smaller than the set angle, that is, the movement angle of the center ball 400 is directed within the restriction area, the control means 500 releases the enabled states of the first and second driving shafts. The clinician may continue the endoscopic procedure at this point. In this embodiment, the control device 500 determines whether to control the first driving shaft and the second driving shaft to enter the enabled state according to the third angle and the set angle, so as to ensure that the operation under the mirror is always kept in the safe limited area, thereby improving the safety of the operation.
In one embodiment, the machine control system 10 also includes a casing sensor 703 disposed on the casing 702. The control device 500 may monitor the attitude of the cannula 702 via the cannula sensor 703, thereby improving the safety of the clinician's operation.
Referring to FIG. 7, in one embodiment, the machine control system 10 further includes: a center rod 710, and a force feedback device 720. One end of the center rod 710 passes through the center ball 400 and the primary mirror 610 in turn, and is used to be fixedly connected with a surgical tool 701. The force feedback device 720 is fixedly connected to the other end of the center rod 710. The force feedback device 720 rotates in synchronization with the center ball 400.
In one embodiment, the central rod 710 may be fixedly coupled to the surgical tool 701 via a quick-change coupling 712. The quick-change connector 712 is used to connect the center rod 710 and the surgical tool 701, so as to facilitate the replacement of different surgical tools 701. The surgical tool 701 includes, but is not limited to, surgical forceps and the like.
In one embodiment, the force feedback device 720 may be secured to the frame 101 by a force feedback fastener 721. The terminal nib of the force feedback device 720 may be fixedly connected to the center rod 710 via a snap connection 711. The force feedback device 720 may be a conventional force feedback device. The force feedback device 720 may be implemented to move in synchronization with the center ball 400. I.e. the force feedback means 720 may follow the central ball 400 in a synchronous movement. In one embodiment, the center rod 710 may perform a reciprocating motion within the center ball 400 in an extending direction of the center ball 400. In this embodiment, the force feedback device 720 is matched with the central rod 710, so that the operation of a clinician under a mirror in a real scene can be simulated.
Referring to fig. 8, in one embodiment, the connecting rod assembly 300 includes a first coupling 310, a first connecting rod 320, and a second connecting rod 330. The first end of the first coupling 310 is fixedly connected to the second driving shaft. A first end of the first link 320 is rotatably connected to a second end of the first coupling 310. The first end of the second link 330 is rotatably connected to the second end of the first link 320. The second end of the second link 330 is fixedly connected to the center ball 400. The joint of the first end of the first coupling 310 and the second driving shaft, the center of the center ball 400, and the two ends of the first link 320 form four vertices of a parallelogram.
In one embodiment, the first end of the first link 320 may be rotatably coupled to the second end of the first coupling 310 by a bearing. Similarly, the first end of the second link 330 may be rotatably connected to the second end of the first link 320 by a bearing. The joint of the first end of the first coupling 310 and the second driving shaft, the center of the center ball 400, and the two ends of the first link 320 form four vertices of a parallelogram. That is, the joint of the first end of the first coupling 310 and the second driving shaft, the center of the center ball 400, and the bearings provided at both ends of the first link 320 constitute four vertices of a parallelogram. Thus, the first driving shaft of the first driving device 110 rotates to drive the second driving device 210 to rotate. The second driving shaft of the second driving device 210 rotates to drive the central ball 400 to orbit perpendicularly to the rotation plane of the first driving shaft. So that the two-dimensional plane angle rotation of the first driving shaft and the second driving shaft can drive the central ball 400 to perform three-dimensional solid angle rotation.
Referring to fig. 9, another embodiment of the present application provides a machine control system 10. The machine control system 10 includes: a first driving means 110, a second driving means 210, a link assembly 300, a center ball 400, a gyroscope 401, and a control means 500. The second driving device 210 is fixedly connected to the first driving shaft of the first driving device 110. The second driving shaft of the second driving device 210 extends in a direction perpendicular to the first driving shaft. A first end of the connecting rod assembly 300 is fixedly connected to the second drive shaft. The center ball 400 is fixedly coupled to the second end of the link assembly 300.
The gyroscope 401 is disposed on the center ball 400. The gyroscope 401 is configured to detect a rotation angle of the center ball 400 and obtain a fourth angle. The control device 500 is electrically connected to the first driving device 110, the second driving device 210, and the gyroscope 401. The control device 500 is configured to control the first and second driving shafts to move according to a given command, and determine whether to release the enabled states of the first and second driving shafts according to the fourth angle.
In an embodiment, please refer to the above embodiment for the detailed structure of the first driving device 110, the second driving device 210, the connecting rod assembly 300, the center ball 400, and the control device 500, which will not be described herein again.
When the control device 500 receives the given command, the control device 500 may control the first driving device 110 and the second driving device 210 to start operating according to the given command. I.e. when the first drive shaft in the first drive 110 and the second drive shaft in the second drive 210 start to rotate. At this time, the gyroscope 401 synchronously detects the rotation angle of the center ball 400 to obtain a fourth angle. When the first and second driveshafts move to the position angle specified by the given instruction, the control device 500 may determine whether to release the enabled states of the first and second driveshafts based on the fourth angle.
The control device 500 may determine whether the first driving shaft and the second driving shaft move to a set angle according to the fourth angle. The set angle is the position angle specified by the given instruction. If the fourth angle reflects that the first driving shaft and the second driving shaft have been moved to the set angle, the control device 500 releases the enabled states of the first driving shaft and the second driving shaft. On the contrary, if the fourth angle reflects that the first driving shaft and the second driving shaft are not moved to the set angle, the control device 500 does not release the enabled states of the first driving shaft and the second driving shaft. Therefore, the channel under the endoscope in the spinal endoscopic surgery training can be established through the method, so that the accuracy of establishing the channel under the endoscope and the stability of operation under the endoscope can be improved.
In summary, the present application detects the rotation angle of the first driving shaft of the first driving device 110 through the first angle detecting device 120 and obtains the first angle. The second angle detecting device 220 detects a rotation angle of a second driving shaft of the second driving apparatus 210 and obtains a second angle. The center ball 400 is fixedly coupled to the second driving shaft by the link assembly 300. The control device 500 is configured to control the first and second actuating shafts to move according to a given command, and determine whether to release the enabled state of the first and second actuating shafts according to the first and second angles. In the embodiment, the control device 500 controls the first driving device 110 and the second driving device 210 to automatically establish the under-mirror channel in the spinal endoscopic surgery training, so that the accuracy of establishing the under-mirror channel and the stability of under-mirror operation can be improved.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The utility model provides a mechanical control system, is applied to scope simulation training which characterized in that includes:
a first drive device (110);
a first angle detection device (120) fixedly connected to a first drive shaft of the first drive apparatus (110) for detecting a rotation angle of the first drive shaft and obtaining a first angle;
the second driving device (210) is fixedly connected with the first driving shaft, and the extending direction of the second driving shaft of the second driving device (210) is perpendicular to the extending direction of the first driving shaft;
a second angle detection device (220) fixedly connected to the second driving shaft for detecting a rotation angle of the second driving shaft and obtaining a second angle;
a connecting rod assembly (300), wherein a first end of the connecting rod assembly (300) is fixedly connected with the second driving shaft;
a center ball (400) fixedly connected to a second end of the connecting rod assembly (300); and
and the control device (500) is respectively electrically connected with the first driving device (110), the first angle detection device (120), the second driving device (210) and the second angle detection device (220), is used for controlling the first driving shaft and the second driving shaft to move according to a given command, and determines whether to release the enabling state of the first driving shaft and the second driving shaft according to the first angle and the second angle.
2. The machine control system according to claim 1, wherein said control means (500) is configured to control the movement of said first and second drive shafts in accordance with said given command, and to determine whether said first and second drive shafts are moved to a set angle based on said first and second angles, and to release the enabled state of said first and second drive shafts if it is determined that said first and second drive shafts are moved to said set angle.
3. The machine control system of claim 1, further comprising:
a main mirror (610) fixedly connected to the center ball (400); and
a third angle detection device (620) provided to the main mirror (610) and electrically connected to the control apparatus (500), the third angle detection device (620) being configured to detect a rotation angle of the center ball (400) and obtain a third angle;
the control device (500) determines whether to control the first drive shaft and the second drive shaft to enter an enabled state based on the third angle and a set angle.
4. A machine control system according to claim 3, characterised in that the control means (500) compares the third angle with a set angle;
if the third angle is equal to the set angle, the control device (500) controls the first driving shaft and the second driving shaft to enter the enabling state;
if the third angle is smaller than the set angle, the control device (500) releases the enabled states of the first and second drive shafts.
5. The machine control system of claim 3, further comprising:
a central rod (710), one end of the central rod (710) passes through the central ball (400) and the primary mirror (610) in sequence and is used for being fixedly connected with a surgical tool (701); and
and the force feedback device (720) is fixedly connected with the other end of the central rod (710), and the force feedback device (720) and the central ball (400) rotate synchronously.
6. Machine control system according to any one of claims 1-5, characterised in that the connecting-rod assembly (300) comprises:
a first coupling (310), a first end of the first coupling (310) being fixedly connected with the second drive shaft;
a first link (320), a first end of the first link (320) being rotatably connected to a second end of the first coupling (310);
the first end of the second connecting rod (330) is rotatably connected with the second end of the first connecting rod (320), the second end of the second connecting rod (330) is fixedly connected with the center ball (400), and the joint of the first end of the first coupler (310) and the second driving shaft, the ball center of the center ball (400) and the two ends of the first connecting rod (320) form four vertexes of a parallelogram.
7. Machine control system according to claim 6, characterised in that the second drive means (210) is fixedly connected to the first drive shaft by means of a second coupling (211).
8. The machine control system of claim 1, wherein the first drive (110) and the second drive (210) are stepper motors.
9. The machine control system of claim 1, wherein the first angle detection device (120) and the second angle detection device (220) are both angle encoders.
10. The machine control system of claim 1, wherein the first drive (110) and the second drive (210) are each servo motors.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110370149.9A CN112754550B (en) | 2021-04-07 | 2021-04-07 | Machine control system |
| CN202110806876.5A CN113679432B (en) | 2021-04-07 | 2021-04-07 | Mechanical control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110370149.9A CN112754550B (en) | 2021-04-07 | 2021-04-07 | Machine control system |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110806876.5A Division CN113679432B (en) | 2021-04-07 | 2021-04-07 | Mechanical control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112754550A CN112754550A (en) | 2021-05-07 |
| CN112754550B true CN112754550B (en) | 2021-08-27 |
Family
ID=75691282
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110370149.9A Active CN112754550B (en) | 2021-04-07 | 2021-04-07 | Machine control system |
| CN202110806876.5A Active CN113679432B (en) | 2021-04-07 | 2021-04-07 | Mechanical control system |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110806876.5A Active CN113679432B (en) | 2021-04-07 | 2021-04-07 | Mechanical control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN112754550B (en) |
Family Cites Families (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4592697A (en) * | 1983-04-26 | 1986-06-03 | Kabushiki Kaisha Kobe Seiko Sho | Gravity balancing device for rocking arm |
| JP4270844B2 (en) * | 2002-10-24 | 2009-06-03 | オリンパス株式会社 | Electronic endoscope |
| JP4265346B2 (en) * | 2003-08-22 | 2009-05-20 | 株式会社島津製作所 | Ceiling suspended X-ray tube holding device |
| CA2541759C (en) * | 2006-04-05 | 2011-11-08 | Karl Storz Development Corp. | Endoscopic imaging with indication of gravity direction |
| CN201034620Y (en) * | 2006-12-04 | 2008-03-12 | 浙江大学 | Multiple freedom degree movement attitude angle detection mechanism |
| KR101030427B1 (en) * | 2009-04-28 | 2011-04-20 | 국립암센터 | Endoscope manipulator for minimal invasive surgery |
| CN101879068B (en) * | 2010-06-30 | 2012-08-22 | 深圳市蓝韵实业有限公司 | Bulb tube rotary driving mechanism in X-ray photographic system |
| CN102302357A (en) * | 2011-06-22 | 2012-01-04 | 清华大学 | Saccade endoscope and attitude sensing system used for same |
| JP2014061571A (en) * | 2012-09-21 | 2014-04-10 | Panasonic Corp | Universal joint and parallel link robot having the same |
| WO2015046081A1 (en) * | 2013-09-24 | 2015-04-02 | ソニー・オリンパスメディカルソリューションズ株式会社 | Medical robot arm device, medical robot arm control system, medical robot arm control method, and program |
| DE102014118962A1 (en) * | 2014-12-18 | 2016-06-23 | Karl Storz Gmbh & Co. Kg | Orientation of a minimally invasive instrument |
| JP6406307B2 (en) * | 2016-04-21 | 2018-10-17 | コベルコ建機株式会社 | Work machine |
| CN205915333U (en) * | 2016-07-14 | 2017-02-01 | 燕山大学 | Three degrees of freedom of overconstraint self -balancing platform that connects in parallel |
| AU2017372744B2 (en) * | 2016-12-08 | 2020-03-26 | Orthotaxy | Surgical system for cutting an anatomical structure according to at least one target plane |
| CN108403206A (en) * | 2018-04-16 | 2018-08-17 | 南安建金工业设计有限公司 | A kind of liquid nitrogen therapy skin robot based on remote control |
| CN110432918B (en) * | 2019-08-13 | 2023-01-03 | 深圳蓝影医学科技股份有限公司 | X-ray ox head and mobile photographic device |
-
2021
- 2021-04-07 CN CN202110370149.9A patent/CN112754550B/en active Active
- 2021-04-07 CN CN202110806876.5A patent/CN113679432B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112754550A (en) | 2021-05-07 |
| CN113679432B (en) | 2024-03-19 |
| CN113679432A (en) | 2021-11-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10779711B2 (en) | Center robotic arm with five-bar spherical linkage for endoscopic camera | |
| JP6907299B2 (en) | Aspect of surgical instrument manipulator | |
| US8506556B2 (en) | Robotic arm with five-bar spherical linkage | |
| US8167872B2 (en) | Center robotic arm with five-bar spherical linkage for endoscopic camera | |
| JP6534680B2 (en) | Command formation to attenuate vibration at mode transition | |
| US8142420B2 (en) | Robotic arm with five-bar spherical linkage | |
| KR102360482B1 (en) | Methods and devices for tele-surgical table registration | |
| KR102358967B1 (en) | Systems and methods for control of imaging instrument orientation | |
| CN107212922B (en) | Redundant axes and degrees of freedom of hardware constrained remote center robotic manipulators | |
| US8167873B2 (en) | Center robotic arm with five-bar spherical linkage for endoscopic camera | |
| US10758313B2 (en) | Controlling roll for a device in a computer-assisted medical system | |
| US12082898B2 (en) | Hand eye coordination system for robotic surgical system | |
| CN112754550B (en) | Machine control system | |
| JP3457651B2 (en) | Work robot | |
| CN117653290A (en) | Two-degree-of-freedom rotary puncture robot system and application method thereof |
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 |