CN117238185A - Force feedback mechanism for laparoscopic surgery simulation - Google Patents
Force feedback mechanism for laparoscopic surgery simulation Download PDFInfo
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- CN117238185A CN117238185A CN202311274525.XA CN202311274525A CN117238185A CN 117238185 A CN117238185 A CN 117238185A CN 202311274525 A CN202311274525 A CN 202311274525A CN 117238185 A CN117238185 A CN 117238185A
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- 238000004088 simulation Methods 0.000 title claims abstract description 31
- 230000008713 feedback mechanism Effects 0.000 title claims abstract description 25
- 238000002357 laparoscopic surgery Methods 0.000 title claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 230000005540 biological transmission Effects 0.000 claims abstract description 29
- 230000003068 static effect Effects 0.000 abstract description 10
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000000007 visual effect Effects 0.000 abstract description 4
- 238000009434 installation Methods 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 9
- 238000001356 surgical procedure Methods 0.000 description 7
- 238000012544 monitoring process Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000002829 reductive effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000023597 hemostasis Effects 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
Abstract
The invention relates to the technical field of laparoscopic surgery simulation training, in particular to a force feedback mechanism for laparoscopic surgery simulation, which comprises a static platform, a movable platform I, a movable platform II, a rack sliding rod and a driving handle, wherein the movable platform I is rotationally connected to the static platform, a motor I is fixedly connected to the static platform, the motor I is connected with the movable platform I through a gear transmission mechanism, the movable platform II is rotationally connected to the movable platform I, the motor II is fixedly connected to the movable platform I, the motor II is connected with the movable platform II through a gear transmission mechanism, the rack sliding rod is slidingly connected to the movable platform II, and the motor III is fixedly connected to the movable platform II. The force feedback mechanism for laparoscopic surgery simulation has the advantages of more visual and accurate force feedback information, simple structure, convenient operation, convenient manufacture and installation and low production cost.
Description
Technical Field
The invention relates to the technical field of laparoscopic surgery simulation training, in particular to a force feedback mechanism for laparoscopic surgery simulation.
Background
Compared with the traditional operation, the laparoscopic surgery has the advantages of small wound, less bleeding in the operation, quick hemostasis, quick postoperative recovery and the like, is favored by a plurality of patients and medical institutions, and has qualified laparoscopic surgery capability only through early simulation training for medical workers.
In this regard, high performance laparoscopic surgical simulation systems have good training results. Laparoscopic surgery simulation can increase the proficiency of doctors and team members, reduce the risks of errors and complications in surgery, and improve the safety of surgery. The simulation system can simulate the real operation environment, so that a doctor can perform operation practice without an actual patient, the operation accuracy and the operation proficiency are increased, and the operation effect and the success rate are improved. Meanwhile, the laparoscopic surgery simulation system is used for performing surgery practice, so that equipment and material consumption required by surgery can be reduced, and surgery cost is reduced. Moreover, the laparoscopic surgery simulation system is small in size, light and portable, can simulate surgery without special operation sites, is convenient for doctors to practice at any time, and can also simulate surgery with different difficulty levels according to the needs.
The most important aspect of the laparoscopic surgery simulation system is that a realistic laparoscopic surgery experience can be obtained, and therefore, an implementation mechanism for laparoscopic surgery simulation is required to bring the touch feeling of a person such as touch pulling and the like to a trainer under the real condition, namely, quick, accurate and stable force feedback information. The current force feedback mechanisms for laparoscopic surgery mainly comprise a pressure sensor, a main force feedback mechanism, a passive force feedback mechanism and the like. While these force feedback mechanisms may provide sensing and feedback of external forces to varying degrees, there are a number of disadvantages. If the feedback information is not visual, the operator can hardly accurately sense the force change between the surgical instrument and the tissue; the feedback accuracy is not high, and because of the restriction of the physical principle, the traditional force feedback mechanism has larger hit feedback difficulty to small force, tiny deformation and the like, and the feedback accuracy is poor. The device is complex, the cost is high, the traditional force feedback mechanism needs professional equipment and technical support, the cost is high, and the device has certain limit on small and medium-sized hospitals. Therefore, there is a need for further improvements and optimizations for force feedback mechanisms that are more intuitive and accurate, while taking into account the comprehensive factors of use costs and operational convenience.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art, and provides a force feedback mechanism for laparoscopic surgery simulation, which has more visual and accurate force feedback information, simple structure, low cost and convenient operation.
The invention discloses a force feedback mechanism for laparoscopic surgery simulation, which comprises a static platform, a movable platform I, a movable platform II, a rack sliding rod, a driving handle, a motor I, a motor II, a motor III and a motor IV, wherein the movable platform I is rotationally connected to the static platform, the motor I is fixedly connected to the static platform, the motor I is connected with the movable platform I through a gear transmission mechanism, the movable platform II is rotationally connected to the movable platform I, the motor II is fixedly connected to the movable platform I, the motor II is connected with the movable platform II through the gear transmission mechanism, the rack sliding rod is slidingly connected to the movable platform II, the motor III is fixedly connected to the movable platform II, the motor III is connected with the rack sliding rod through the gear transmission mechanism, the driving handle is rotationally connected to the sliding rod, the motor IV is fixedly connected to the rack, and the motor IV is connected with the driving handle through the gear transmission mechanism.
The technical problem to be solved by the invention can be further solved by the following technical scheme that an output gear of the motor I is meshed with a driven gear fixedly connected with the movable platform I, an output gear of the motor II is meshed with a driven gear fixedly connected with the movable platform II, an output gear of the motor III is meshed with a rack of the rack slide bar, and an output gear of the motor IV is meshed with a driven gear fixedly connected with the driving handle.
The technical problem to be solved by the invention can be further solved by the following technical scheme that a parallel shaft type is adopted for the first motor and the first gear transmission mechanism of the movable platform, an intersecting shaft type is adopted for the connection of the second motor and the second gear transmission mechanism of the movable platform, an intersecting shaft type is adopted for the gear-rack transmission mechanism between the third motor and the rack sliding rod, and an intersecting shaft type is adopted for the gear transmission mechanism between the fourth motor and the driving handle.
The technical problem to be solved by the invention can be further solved by the following technical scheme that the first movable platform is provided with a rotation axis a1 relative to the static platform, the second movable platform is provided with a rotation axis a2 relative to the first movable platform, the driving handle is provided with a rotation axis a3 relative to the rack sliding rod, the rack sliding rod is provided with a sliding axis b relative to the second movable platform, the rotation axis a1 is perpendicular to the rotation axis a2 and intersects at a point P, the rotation axis a2 is perpendicular to the rotation axis a3 and intersects at a point P, and the rotation axis a3 coincides with the sliding axis b.
The technical problem to be solved by the invention can be further solved by the following technical scheme that the first motor, the second motor, the third motor and the fourth motor are provided with angle measuring devices, and the angle measuring devices comprise encoders.
Compared with the prior art, the invention has the following advantages:
(1) The force feedback mechanism for laparoscopic surgery simulation has the advantages that the force feedback information is more visual and accurate, and meanwhile, the structure is simple and the operation is convenient;
(2) The force feedback mechanism for laparoscopic surgery simulation has the advantages of high training operation flexibility, good reliability, convenient manufacture and installation and low production cost;
(3) The force feedback mechanism for laparoscopic surgery simulation designed by the invention can well transmit the interactive touch feeling in the simulation process to the hands of the operator, so that the whole simulation training is more real, and the training effect of the trainer is improved.
Drawings
FIG. 1 is an isometric view of the present invention;
FIG. 2 is a schematic view of a moving platform-2 rotation axis according to the present invention;
FIG. 3 is a schematic view of a second rotating shaft of the movable platform of the present invention;
FIG. 4 is a schematic view of the moving axis of the rack slide bar 4;
FIG. 5 is a schematic view of the rotation shaft of the driving handle 5;
FIG. 6 is a schematic view of the intersection point P of three rotation axes according to the present invention;
1-static platform, 2-moving platform I, 3-moving platform II, 4-rack slide bar, 5-initiative handle, 6-motor I, 7-motor II, 8-motor III, 9-motor IV, a 1-axis of rotation I, a 2-axis of rotation II, a 3-axis of rotation III, b-sliding axis, P-intersection.
Detailed Description
The following description of the embodiments of the present invention will be made apparent, and it is intended, in view of the accompanying drawings, to provide a clear and complete description of the embodiments of the present invention. In the description of the present invention, it should be noted that the azimuth or positional relationship indicated by the terms "upper", "lower", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element in question must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present invention.
The following detailed description of specific embodiments of the invention refers to the accompanying drawings and specific examples. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
In some embodiments, as shown in fig. 1, a force feedback mechanism for laparoscopic surgery simulation comprises a static platform 1, a movable platform second 3, a rack slide bar 4, a driving handle 5, a motor first 6, a motor second 7, a motor third 8 and a motor fourth 9. The first movable platform 2 is rotationally connected to the static platform 1, the first motor 6 is fixedly connected to the static platform 1, and rotational movement and moment are transmitted between the first motor 6 and the first movable platform 2 through a gear transmission mechanism or a rope transmission mechanism; the second movable platform 3 is rotationally connected to the first movable platform 2, the second motor 7 is fixedly connected to the first movable platform 2, and rotational movement and moment are transmitted between the second motor 7 and the second movable platform 3 through a gear transmission mechanism or a rope transmission mechanism; the rack slide bar 4 is connected to the second movable platform 3 in a sliding way, the third motor 8 is fixedly connected to the second movable platform 3, and the third motor 8 and the rack slide bar 4 transmit movement and force through a gear-rack transmission mechanism or a rope transmission mechanism; the driving handle 5 is rotatably connected to the rack slide bar 4, the motor IV 9 is fixedly connected to the rack slide bar 4, and rotational movement and torque are transmitted between the motor IV 9 and the driving handle 5 through a gear transmission mechanism or a rope transmission mechanism. Under the monitoring of the encoder and other angle measuring devices arranged on the first motor 6, the second motor 7, the third motor 8 and the fourth motor 9 and under the combined driving action of the first motor 6, the second motor 7, the third motor 8 and the fourth motor 9, an operator can realize that the tail end of the rack slide bar 4 reaches any point in a working space through controlling the driving handle 5, and the operator can feel the interactive touch experience in the simulation process, namely the feedback force, and finally the feedback force is fed back to a human hand, so that the operator can feel the touch and pull of the human hand under the real condition.
Fig. 2 is a schematic view of a rotation axis a1 of a moving platform 2 of the present invention, which is connected by the part of the gear transmission mechanism so that the mechanism has a degree of freedom of rotation around the axis, and the rotation motion of the moving platform is captured by an encoder mounted on a motor 6, so as to realize force feedback and pose monitoring in the degree of freedom. FIG. 3 is a schematic view of a rotation axis two a2 of a movable platform two 3 of the present invention, which is connected by the partial gear transmission mechanism so that the mechanism has a degree of freedom of rotation around the shaft, and the rotation motion of the movable platform is captured by an encoder mounted on a motor two 7, so as to realize force feedback and pose monitoring in the degree of freedom;
FIG. 4 is a schematic view of the sliding axis b of the rack slide bar 4 on the second movable platform 3, wherein the rack slide bar 4 can move along the slide rail or rope mechanism in the direction shown in the figure, and the movement is captured by an encoder installed on the third motor 8, so that the force feedback and the position monitoring in the degree of freedom are realized; fig. 5 is a schematic view of a rotation axis tri a3 of the driving handle 5 on the rack slide bar 4, which is connected by the part of the gear transmission mechanism, so that the driving handle 5 has a degree of freedom of rotation around the axis, and the rotation motion is captured by an encoder installed on the motor tetra 9, so as to realize force feedback and pose monitoring on the degree of freedom.
Fig. 6 is a schematic view of the intersection point P of the first rotation axis a1, the second rotation axis a2 and the third rotation axis a 3. The rotation axis A1, the rotation axis B2 and the rotation axis A3 of the force feedback mechanism for laparoscopic surgery simulation intersect at a point P, and the axis b of the sliding of the rack sliding rod 4 relative to the movable platform B3 coincides with the rotation axis A3 and passes through the intersection point P. Based on the above arrangement, the designed force feedback mechanism for laparoscopic surgery simulation can realize three-way centering rotation around the intersection point P and linear motion through the intersection point P.
Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the appended claims, which are within the scope of the present invention.
Claims (5)
1. A force feedback mechanism for simulation of laparoscopic surgery, including quiet platform, movable platform one, movable platform two, rack slide bar, initiative handle, motor one, motor two, motor three, motor four, its characterized in that: the first movable platform is rotationally connected to the first fixed platform, the first motor is fixedly connected to the first fixed platform, the first motor is connected with the first movable platform through a gear transmission mechanism, the second movable platform is rotationally connected to the first movable platform, the second motor is fixedly connected to the first movable platform, the second motor is connected with the second movable platform through a gear transmission mechanism, the rack slide bar is slidably connected to the second movable platform, the third motor is fixedly connected to the second movable platform, the third motor is connected with the rack slide bar through a gear rack transmission mechanism, the driving handle is rotationally connected to the rack slide bar, the fourth motor is fixedly connected to the rack slide bar, and the fourth motor is connected with the driving handle through a gear transmission mechanism.
2. A force feedback mechanism for laparoscopic surgical simulation according to claim 1, characterized in that: the output gear of the motor I is meshed with the driven gear fixedly connected with the movable platform I, the output gear of the motor II is meshed with the driven gear fixedly connected with the movable platform II, the output gear of the motor III is meshed with the rack slide bar, and the output gear of the motor IV is meshed with the driven gear fixedly connected with the driving handle.
3. A force feedback mechanism for laparoscopic surgical simulation according to claim 1, characterized in that: the motor I and the gear transmission mechanism between the movable platform I adopt parallel shafts, the motor II and the gear transmission mechanism between the movable platform II are connected by adopting intersecting shafts, the motor III and the gear-rack transmission mechanism between the rack and slide bars adopt intersecting shafts, and the motor IV and the gear transmission mechanism between the driving handles adopt intersecting shafts.
4. A force feedback mechanism for laparoscopic surgical simulation according to claim 1, characterized in that: the first movable platform is provided with a rotating axis a1 relative to the first fixed platform, the second movable platform is provided with a rotating axis a2 relative to the first movable platform, the driving handle is provided with a rotating axis a3 relative to the rack slide bar, the rack slide bar is provided with a sliding axis b relative to the second movable platform, the rotating axis a1 is perpendicular to the rotating axis a2 and intersects at a point P, the rotating axis a2 is perpendicular to the rotating axis a3 and intersects at a point P, and the rotating axis a3 coincides with the sliding axis b.
5. A force feedback mechanism for laparoscopic surgical simulation according to claim 1, characterized in that: the angle measuring device is arranged on the first motor, the second motor, the third motor and the fourth motor and comprises an encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311274525.XA CN117238185A (en) | 2023-09-28 | 2023-09-28 | Force feedback mechanism for laparoscopic surgery simulation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311274525.XA CN117238185A (en) | 2023-09-28 | 2023-09-28 | Force feedback mechanism for laparoscopic surgery simulation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117238185A true CN117238185A (en) | 2023-12-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311274525.XA Pending CN117238185A (en) | 2023-09-28 | 2023-09-28 | Force feedback mechanism for laparoscopic surgery simulation |
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| Country | Link |
|---|---|
| CN (1) | CN117238185A (en) |
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2023
- 2023-09-28 CN CN202311274525.XA patent/CN117238185A/en active Pending
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