CN1176448C - Analog scalpel unit - Google Patents
Analog scalpel unit Download PDFInfo
- Publication number
- CN1176448C CN1176448C CNB021185220A CN02118522A CN1176448C CN 1176448 C CN1176448 C CN 1176448C CN B021185220 A CNB021185220 A CN B021185220A CN 02118522 A CN02118522 A CN 02118522A CN 1176448 C CN1176448 C CN 1176448C
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- Prior art keywords
- scalpel
- force
- virtual
- described device
- wire rope
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- Expired - Fee Related
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- 230000008713 feedback mechanism Effects 0.000 abstract description 2
- 238000004891 communication Methods 0.000 description 2
- 230000005672 electromagnetic field Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000003811 finger Anatomy 0.000 description 1
- 210000005224 forefinger Anatomy 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
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- Surgical Instruments (AREA)
Abstract
The present invention relates to a virtual scalpel device which comprises a microcontroller and a scalpel, wherein a force transferring device connected between the scalpel and a ratio electromagnet is used for transferring driving force provided by the ratio electromagnet. A reset spring is connected to both ends of the force transferring device, and a force sensor positioned on the handle of the scalpel detects the upward force of the scalpel. A three-dimensional tracking apparatus detects the position and the posture of the scalpel. The three-dimensional tracking apparatus and a force feedback mechanism used in the present invention both have the characteristics of small volume and light weight, so that the present invention can be used conveniently for virtual surgeries without affecting the action of operators.
Description
Technical field
The present invention relates to a kind of human-computer interaction device who is applied in the virtual operation, particularly can send exact position and the attitude information of analog scalpel in the space to computer system in real time, and the man-machine contact interactive device of power feel feedback function can be provided for the operator according to the environment needs.
Background technology
Virtual operation is the important application of virtual reality technology in medical domain, it can make the medical worker be immersed in the virtual operation environment of computing machine generation, experience and learn how to carry out various operations by virtual operation instrument, and cultivate the ability of dealing with various emergency case.In virtual surgical system,, must send position and the attitude information of virtual operation instrument in the space to generate virtual views computer system in real time in order to realize and the man-machine interaction of virtual human body or virtual organ; Simultaneously, can finish operations in order to make the operator in virtual scene, power feels that feedback system also is absolutely necessary on the operating theater instruments on the spot in personly.At present, the representative product P HANTOM that U.S. Sensable company is arranged in the virtual operation instrument that numerous virtual operations adopt.The product P HANTOM of U.S. Sensable company is a kind of power feel feedback device that obtains more use in virtual surgical system.PHANTOM is an electromechanical integrated device with six-freedom degree, and as shown in Figure 1, mode of operation is with hand drag operation bar.Six high precision position sensors and six direct current generators are installed on this device, can provide the locus and the attitude of pen type control lever in real time, and can carry out force feedback to the operator by control lever, therefore can be used as analog scalpel or operation needle and use.
Though the force feedback equipment of PHANTOM can be used as virtual operation instrument and uses,, weak point is these equipment price costlinesses, complex structure.And with actual operating theater instruments very big-difference is being arranged also aspect form and the mode of operation, thereby be difficult to satisfy the actual needs of virtual surgical system.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, provide a kind of by microprocessor control, based on true scalpel profile, high precision, the high performance power of having are felt the analog scalpel system of feedback function.
For achieving the above object, analog scalpel unit comprises microcontroller and scalpel, and force transfering device is connected between scalpel and the proportion electro-magnet, is used to transmit the driving force that proportion electro-magnet provides; Back-moving spring is connected on the force transfering device two ends; Be positioned at the force transducer on the scalpel handle of a knife, detect the power that scalpel makes progress; Three-dimensional tracking equipment detects the position of scalpel and the attitude of scalpel.
Three-dimensional tracking means that native system adopted and force feedback mechanism all have little, the lightweight characteristics of volume, do not hinder operator's action, can use this system to carry out virtual operation easily.
Description of drawings
Fig. 1 is the outside drawing of prior art analog scalpel;
Fig. 2 is the structural drawing of analog scalpel of the present invention;
Fig. 3 is the schematic diagram of Magnetic Sensor.
Embodiment
As shown in Figure 2, this has installed three-dimensional tracking equipment 10 little based on volume, the high Magnetic Sensor of precision above system tip, measure the exact position of tracked scalpel and the attitude information of scalpel by Magnetic Sensor.
Use the present invention to carry out virtual operation, when analog scalpel contacted with virtual human body or virtual organ, power felt that feedback assembly will carry out sense of touch and power feel feedback to the operator by analog scalpel.Power feels that feedback assembly mainly comprises proportion electro-magnet 1, support 2, reset tension spring 3, sheath 4, wire rope 5, reseting pressuring spring 6, fixed screw 7, pressure transducer 8, microcontroller 12.The drive unit proportion electro-magnet 1 on right side provides the driving force of a controlled amount of total system, and the direction of driving force to the right.Driving force overcomes back-moving spring 3,6 elastic force, power is delivered on the handle of a knife of scalpel 11 by this power transfer mode of wire rope-sheath, it is the multi-strand wire rope of 0.3-1.2 millimeter that wire rope 5 adopts diameter, it is the closely bourdon tube of rich system of 0.8-2.5 millimeter that sheath 4 adopts diameter, the one end is fixed on the support 2, the other end is fixed on the rear end of scalpel handle of a knife by nut 16, the maximum length of wire rope-sheath can reach 1.2 meters, the constraint that the transfer mode of this power makes the operator be subjected to significantly reduces, operator's hand can be freely movable in a very big space, the handle of a knife of scalpel 11 is transformed into linkage, its front and rear part can be rotated around axle 14, one end of wire rope 5 is fixed on the first half of handle of a knife by screw 7, the driving force that proportion electro-magnet 1 produces just has been delivered to power the first half of handle of a knife by this transfer mode of wire rope-sheath, and can make it to produce one around axle 14 movement tendency along clockwise direction, this trend can produce a power that makes progress at finger tip 13 places of the forefinger of operator's hand 15, and the size of this power can detect by the force transducer 8 that is installed on the handle of a knife.In actual applications, calculate the contact force of dummy object and scalpel when virtual reality system after, in real time the information of contact force is passed to microcontroller of the present invention by communication interface, microcontroller this contact force information as controlled quentity controlled variable, microcontroller is gathered the output of force transducer 8, and relatively carry out close-loop feedback control with controlled quentity controlled variable, and make scalpel be applied to the variation that power that the operator points 13 places, end is followed controlled quentity controlled variable, be consistent with controlled quentity controlled variable.Data line 9 is used to transmit the data of detection.
As shown in Figure 3, microprocessor driven 3 D electromagnetic source sends electromagnetic field signal towards periphery, and Magnetic Sensor will detect the peripheral electromagnetic field signal and deliver to microprocessor and carry out algorithm process, obtain position and the attitude information of analog scalpel in the space, microprocessor is sent to computing machine with this information.Computing machine determines according to the position of scalpel in the space whether analog scalpel comes in contact with virtual human body.When scalpel contacts with virtual human body, after virtual reality system calculates the contact force of dummy object and scalpel, in real time the information of contact force is passed to microcontroller of the present invention by communication interface, microcontroller this contact force information as controlled quentity controlled variable, microcontroller is gathered the output of force transducer 8, and relatively carry out close-loop feedback control with controlled quentity controlled variable, and make scalpel be applied to the variation that power that the operator points 13 places, end is followed controlled quentity controlled variable, be consistent with controlled quentity controlled variable.
Claims (7)
1. an analog scalpel unit comprises microcontroller and scalpel, it is characterized in that also comprising:
Proportion electro-magnet is used to provide driving force;
Force transfering device is connected between scalpel and the proportion electro-magnet, is used to transmit the driving force that proportion electro-magnet provides;
Back-moving spring is connected on the force transfering device two ends;
Be positioned at the force transducer on the scalpel handle of a knife, detect the power that scalpel makes progress;
Three-dimensional tracking equipment detects the position of scalpel and the attitude of scalpel.
2. by the described device of claim 1, it is characterized in that described force transfering device comprises wire rope and the outer sheath of wire rope.
3. by the described device of claim 2, the diameter that it is characterized in that described wire rope is the 0.3-1.2 millimeter.
4. by the described device of claim 2, it is characterized in that described sheath diameter is the 0.8-2.5 millimeter.
5. by the described device of claim 1, it is characterized in that described back-moving spring is two.
6. by the described device of claim 1, it is characterized in that described scalpel handle of a knife is a linkage.
7. by the described device of claim 1, it is characterized in that described three-dimensional tracking equipment comprises:
Microprocessor drives the 3 D electromagnetic source by driving circuit and sends electromagnetic signal;
Magnetic Sensor is delivered to microprocessor by testing circuit with detected electromagnetic signal and is handled;
The information that microprocessor will be handled is delivered to computing machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB021185220A CN1176448C (en) | 2002-04-26 | 2002-04-26 | Analog scalpel unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB021185220A CN1176448C (en) | 2002-04-26 | 2002-04-26 | Analog scalpel unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1453752A CN1453752A (en) | 2003-11-05 |
| CN1176448C true CN1176448C (en) | 2004-11-17 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB021185220A Expired - Fee Related CN1176448C (en) | 2002-04-26 | 2002-04-26 | Analog scalpel unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1176448C (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100337260C (en) * | 2005-06-23 | 2007-09-12 | 上海交通大学 | Multifunctional virtual surgery equipment |
| CN101261781B (en) * | 2008-05-08 | 2010-06-02 | 上海交通大学 | Five-freedom degree force feedback virtual operation instrument |
| CN101441205B (en) * | 2008-11-17 | 2013-04-24 | 江苏科技大学 | Test system of biological soft tissue force feedback touch feeling model building |
| CN110930804A (en) * | 2019-12-19 | 2020-03-27 | 郑州工业应用技术学院 | Clinical medicine education system based on cloud platform |
| CN113838332B (en) * | 2021-10-21 | 2023-04-11 | 温州职业技术学院 | Operation training equipment based on virtual reality |
-
2002
- 2002-04-26 CN CNB021185220A patent/CN1176448C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN1453752A (en) | 2003-11-05 |
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| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20041117 Termination date: 20120426 |