CN1732492A - An interventional simulation device - Google Patents
An interventional simulation device Download PDFInfo
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- CN1732492A CN1732492A CNA2003801075861A CN200380107586A CN1732492A CN 1732492 A CN1732492 A CN 1732492A CN A2003801075861 A CNA2003801075861 A CN A2003801075861A CN 200380107586 A CN200380107586 A CN 200380107586A CN 1732492 A CN1732492 A CN 1732492A
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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
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
- G09B23/285—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas
Abstract
The present invention relates to a device ( 100 ) in a simulation system for simulating an interventional operation. The device ( 100 ) is arranged to receive a number of real instruments, preferably at least two. The device ( 100 ) comprises a number of moveable carriages ( 16 A- 16 C) corresponding to the number of the real instruments. The device ( 100 ) further comprises a track ( 20 ) and an interconnecting member ( 26 ). The interconnecting member ( 26 ) interconnects the carriages ( 16 A- 16 C) serially. Each carriage ( 16 A- 16 C) is provided with an opening for enabling reception of the instruments. Each carriage ( 16 A- 16 C) further comprises members to receive and lock at least one instrument, and members for receiving a movement from the instrument and generating a force, fed back to the instrument with respect to a simulation characteristic.
Description
Technical field
The present invention relates to a kind of equipment in the simulation system, this simulation system is used for simulation and intervenes operation, the operation of blood vessel in being preferably used for.
Background technology
The principle of adult education, the aim of learning by doing and be devoted to the technical skill development theory is all emphasized playing the part of of in learning process key role experience.
Analogue technique successfully is applied to current surgery and medicine education, and provides necessary learning experience based on these education theory foundation to trainee and practitioner.All the have an opportunity learning experience of establishing criteria of all learners is acquired basic training and is reached the qualification level of regulation.By to Performance Evaluation and provide instant, individual other and detailed feedback information, simulation can be simplified study.Simulation can provide control setting, this set can repeat up to obtaining definite performance rate, and simulation can also reduce learner's pressure, increases their confidence, and before to patient, guarantee to reach under the situation of technical skills, improve the security in actual the setting.
The practitioner can improve their technical ability and the emerging program of learning science technical progress generation by using the education of interference mode of simulation.In addition, application simulation helps to solve for example this class practical problems that requires of time of obtaining employment to the medical worker, thereby provides independently study and practice machine meeting to address these problems to the trainee.By using this simulation means, solved the responsibility obligation of current Special attention will be given to and the problem that health care quality guarantees, and result data is used for guaranteeing to the public doctor's working ability.
Simulation should be considered to each current vital part being devoted to the educational procedure of expertise development.Simulation can be guaranteed effectively teaching and study, provides the really reliable means that its technical ability is evaluated to the learner, and generated the relevant information that needs improved specified disadvantages, and the independent pre-instruction set of creating learner's technical ability.In order to obtain expected result, according to adult education, learning by doing and the principle of effectively feeding back should be offered specific course.This simulation can also be used for the program of continuing professional education and authentication of professional qualification.
In development with obtain simulation, and during the effective exerciser that combines of foundation and educational pattern, need the input resource.Yet, effectively carry out the program of performing the operation rapidly, the raising of patient safety, and the minimizing of professor's various professional skill time of learner, the numerous advantages that produced by these factors all are easy to offset with the initial input of resource.This simulation also can be used to be evaluated at the effect of being worked hard in the education aspect, or even selects the individuality undergo training.Therefore, simulation has the potentiality that the surgery and medicine education in future produced significant impact.
Because the develop rapidly of field of computer technology, analogue technique particularly is applied to the analogue technique that surgery and medicine is educated, and has obtained obvious improvement.Yet existing known equipment can not carry out comprehensive simulated to employed different apparatuses with method.
U.S. Patent number is 6,106,301 patent disclosure the radiation interfacing equipment and the method for an intervention, this method will be connected by interface with a medical procedure simulation system with the peripherals that the simulated medical instrument form occurs, thereby can carry out the medical procedure that is applied to virtual patient.Interfacing equipment comprises a leading line, conduit and sheath, and a syringe, an inflator and a foot-switch are so that simulate the apparatus that uses practically in real medical procedure.User's operational guidance line, these peripherals of conduit and sheath cross the obturator of artery network near simulation, and obturator shows on the display of medical procedure simulation system.Foot-switch control display shows a fluoroscope image, has wherein shown leading line in the artery network, conduit, the position of sheath and obturator.Operating syringe, by conduit or sheath, simulation is expelled to process in the virtual patient body with contrast preparation or other medicines.When leading line was positioned at the position of the simulation obturator of crossing in the artery network, conduit changed the vascular plastic catheter that the top has balloon into, and used inflator to simulate to balloon inflation, reduced obturator.In addition, interfacing equipment can act on force feedback leading line and conduit, thereby simulates the power that these apparatuses run in the medical procedure of reality.Interfacing equipment is measured the peripherals operation, and these measurement data are passed to the medical procedure simulation system by means of processor, to allow the simulation of medical procedure.
U.S. Patent number is 6,267,599 patent disclosure a system, this system produces real time modelling condition of work very true to nature, thereby interactively trains those minimum level ground to carry out the people that import the surgical procedure of apparatus in body, wherein, the apparatus that relates to is inserted in the body by patient's little otch on one's body and operation therein.The virtual environment of this cover training system comprises a shell that has little opening.The surgical instruments of simulation is inserted in the opening, and is operated with respect to shell.Motion guide device and sensing element are monitored the position of apparatus with respect to shell, and the position of apparatus in shell and the relevant data in orientation are provided.
Computer processor inserts report data, and utilizes an information database to set up the computer model of looks in the patient body, the looks in the information representation patient body in the database.With reference to this computer model, processor is controlled the appearance of the force feedback that reacts on apparatus work.The video image system of processor control according to the computer model of looks in the patient body, produces the two dimensional image that a width of cloth is depicted in the apparatus that occurs in the patient body.When the computer picture of apparatus occurred by heartbeat and breath cycle, its circulation video image with the interior looks of patient body merged mutually, and the image of merging shows on video display.
The integration factor of visual representation in real time and interactive tactile force feedback provides a virtual training simulation, and the key element that simulation relates to is all the actual operation conditions except that an animated patient.US 6,267, and the system of inventing described in 599 patents can not while and a plurality of apparatuses of real time modelling.
Publication No. is that the patent of WO 99/39317 has been described the interfacing equipment of controlling a plurality of apparatuses by same interface, thus the motion of simulated instrument and rotation in the medical procedure simulation system.This system uses manually imitated especially apparatus, and imitated apparatus is assembled in the interfacing equipment, and carriage assembly is apparatus interlock and locking, and carriage assembly is accepted each specific apparatus type of apparatus.For the user, the solution of imitated apparatus and special insertion sequence thereof makes this system not gear to actual circumstances and is complicated, because the user need know the structure of carriage assembly and based on the correct insertion sequence of this structure.
Summary of the invention
A target of the preferred embodiment of the present invention is, provides a simulation to intervene the interfacing equipment of vascular surgery in operation and the particularly simulation, and its permission is simulated simultaneously to different apparatuses.Equipment in the preferred embodiment of the present invention provides control more accurately.
Other advantage of preferred embodiment comprises:
● the user can operate at least three independently apparatuses simultaneously.
● can use actual apparatus.
● by a feedback system preferably, can obtain to feel more really.
● in the operation of reality, apparatus can be inserted and extract out, intervene especially or control and need not the user.
For these reasons, the equipment of mentioning at first can be accepted the apparatus of a plurality of reality, preferably is the apparatus of two reality at least.Equipment comprises: a plurality of mobile stools, and a track and an interconnecting component, the quantity of carriage is consistent with the quantity of real instrument.Interconnecting component connects carriage successively.Each carriage has an opening, to guarantee to accept apparatus.Each carriage further comprises the member of acceptance and at least one apparatus of locking.Each carriage further comprises the member that moves and produce a power of accepting apparatus, and the force reaction of generation is in the apparatus with regard to analog feature.
In a preferred embodiment of the invention, an opening is arranged in the interconnecting component.
In other preferred embodiment, interconnecting component is a telescopic pipe, allows to insert nested apparatus.
In a further preferred embodiment, each carriage comprises a pick-up unit, and it detects the type of the apparatus that inserts by interconnecting component, and this has simplified the operation to apparatus.
At one further in the preferred embodiment, equipment links to each other with a control assembly, measures moving of carriage, and moves by a speed control loop and a position control loop control, and accurate feedback is provided.
In a preferred embodiment, bracket arrangement becomes to move along track.
In a further preferred embodiment, carriage has a physical location and an analog position.Actual bracket locations is determined the bracket locations of simulation from a ratio reckoner.
In other preferred embodiment, be connected by a gearing carriage, gearing is used for driving along track.Carriage is equipped with a crank block that is placed in the torque wheel.Crank block has a field of conjugate action, and this field of conjugate action is pressed towards a chuck direction, and chuck is with nested mode interlock apparatus lead.
In other preferred embodiment, there is power between suspension plate and the chassis, the chassis is placed on the carriage, and a force transducer is measured power.
In other preferred embodiment, carriage is equipped with a detection means, and it detects the situation that exists of the interior apparatus of carriage.
In a further preferred embodiment, detection means detects the type of each apparatus.
In other preferred embodiment, apparatus is classified according to following at least a feature: thickness, color, structure, material, characteristic and/or bar code.
In another other preferred embodiment, detection means is an optical sensor.
In another other preferred embodiment, first interconnecting component is placed between the opening and first carriage.Second interconnecting component is placed between first carriage and second carriage.The 3rd interconnecting component is placed between second carriage and the 3rd carriage.
In other preferred embodiment, equipment comprises a processing element, the lengthwise movement of its measuring apparatus and rotatablely moving.
In other preferred embodiment, equipment comprises a processing element, and it provides the force feedback of apparatus in vertical and sense of rotation.
Preferably, apparatus is the real instrument with an analog end.This allows the different common available apparatus of check.
In another other preferred embodiment, equipment comprises a latch members, and it clamps an apparatus.Latch members is connected on the wall of middle part.Latch members can comprise a member that applies moment of torsion.
In another other preferred embodiment, crank block is provided in torque wheel inside.With respect to torque wheel, crank block can move along the longitudinal, and maintains static in sense of rotation.
The present invention relates to a kind of method simultaneously, and this method is intervened operation by means of one of the equipment simulating that uses in simulation system.Equipment is accepted a plurality of apparatuses, preferably is two apparatuses at least.Equipment comprises a plurality of mobile stools, a track and an interconnecting component, and the quantity of carriage is consistent with the quantity of apparatus.The step that method comprises is that a plurality of apparatuses are inserted in the equipment, and each carriage that interconnects is successively accepted apparatus, and carriage is accepted and at least one apparatus of locking.Each carriage further comprises accepts the member that apparatus moved and produced a power, and the force reaction of generation is in the apparatus with regard to analog feature.
According to an aspect of the present invention, provide a simulation system, preferably an intervention program simulation system.Simulation system comprises one first interchangeable member and one second interchangeable member at least, and a control system.Control system comprises: first controller (F1 (s)), its speed of controlling the first replaceable member (16A-16C) is near a setting value (CDV).Control system further comprises second controller (F2 (s)), and it becomes a locational error (CAP) and speed (PCAV) merging of the second previous replaceable member setting speed of first member.Second controller (F2) control CDV=C1 * (CAP-PCAP)+C2 * PCAV, wherein, C1 and C2 are constants.
According to another aspect of the present invention, provide a simulation system, preferably an intervention program simulation system.Simulation system comprises a device, the apparatus that its acceptance simulated.Device comprises the means of identification that apparatus is discerned.
In another other preferred embodiment, the device that detects apparatus comprises at least one IR diode and at least one IR phototransistor.
In a preferred embodiment, means of identification is by the thickness of apparatus, color, structure, material, at least a composition in these several features of characteristic and/or bar code.
According to another aspect of the present invention, provide a simulation system, preferably an intervention program simulation system.Simulation system comprises member, apparatus that simulated of its acceptance and locking, and comprise a control assembly, control assembly comprises a force transducer.Control assembly control is near a demand force value DF.The power that the user stands in apparatus is by force sensor measuring, and the signal that sends from force transducer is fed in a force feedback control loop, near the power of a setting.
According to another aspect of the present invention, provide a simulation system, intervention program simulation system preferably, and a device that generates resistance in the apparatus that simulated is provided.Device comprises a control assembly and a force transducer.Device further comprises a force feedback control loop, and it controls a driver equipment, and driver drives an apparatus in one direction and accepts member.Device further comprises an internal force control loop.The force sensor measuring resistance.The signal that sends from force transducer is fed for a short time at the internal force control loop, and the internal force control loop utilizes the power value SF of loop amplification degree K control near a setting, and K and SF are provided by control assembly, and internal force control loop control driver.
In a preferred embodiment, control assembly control loop amplification coefficient K is to obtain a resistance.
In a preferred embodiment, the power SF of control assembly control setting is to obtain a resistance.
According to another aspect of the present invention, provide a simulation system, preferably an intervention program simulation system.Simulation system comprises a device that generates resistance in the apparatus that simulated.Simulation system further comprises to be accepted and the device of fixing a part of apparatus, and apparatus is in the equipment, the motion of device measuring apparatus and to power of apparatus feedback.Device comprises the member of a clamping apparatus.Device comprises a crank block, and it is placed in the torque wheel, crank block in torque wheel vertically on be movably.Crank block has a field of conjugate action, and this field of conjugate action is pressed towards the direction of the chuck of an interlock apparatus part.
Description of drawings
With reference to the preferred embodiments of the present invention, and in conjunction with the accompanying drawings, the present invention is narrated without restriction:
Figure 1 shows that an equipment of the present invention width of cloth sketch plan in use.
Figure 2 shows that the cut-open view of equipment.
Figure 3 shows that the sketch of carriage.
Figure 4 shows that the cut-open view of carriage.
Figure 5 shows that the side view of carriage.
Figure 6 shows that the front view of optical sensor.
Figure 7 shows that the outboard profile of latch members.
Figure 8 shows that the calcspar of control system.
Figure 9 shows that the calcspar in passive force feedback loop.
Figure 10 shows that the calcspar of active force backfeed loop.
Embodiment
Followingly with reference to the accompanying drawings the preferred embodiments of the present invention and some modifications are wherein described in detail.And, will narrate the example of other embodiment that may exist.
As shown in Figure 3, the interfacing equipment in the preferred embodiment of the present invention 100 comprises:
● be arranged in the processing element 10 on the corresponding printing board PCB.
● communication component 12.
● power supply 14.
● at least three carriage 16A-16C.Each carriage 16 has identical technical characterictic.Carriage 16A-16C pins dissimilar apparatuses, narrates subsequently.
● the motor of driven bracket 16A-16C and gearing 18.
● track 20, carriage 16A-16C can move in orbit.In this embodiment, it is a shared track, but in other embodiments, it can be three parallel tracks or similar track.
● the opening 22 of inlet tube 24 is equipped with.
● interconnecting component 26, its form is telescopic pipe 26A-26C, referring to Fig. 2.
● cover 28.
● control assembly 30, its form are the software in the personal computer (PC).
Each carriage 16A-16C comprises:
Be equipped with the chassis 32 of wheel 34.In other embodiments, the chassis can be equipped with skid, slide bushings and similar device.By a latch along track 20 transmissions, chassis 32 is connected on the gearing 18, preferably a tooth belt gearing.In other embodiments, chain gearing, lead gearing or pneumatic cylinder gearing are used.Suspension plate 38 is connected on the chassis 32 by a spring suspension.One of them spring is the sensor of a load cell form, and it measures the power between suspension plate 38 and the chassis 32.This sensor is exactly the force transducer 40 that is referred to as subsequently.A wall 42 that assembles at the center fully is arranged on the suspension plate 38, as shown in Figure 4 and Figure 5.
The function of each carriage 16A-16C is, when apparatus passes carriage, detects by means of detection means 48, determines the type of apparatus.If control assembly 30 is maked decision, then apparatus is pinned.Latch members 44 triggers the locking mechanical hook-up, and locking action is provided, and this will be further described subsequently.
Be connected interconnecting component 26 at opening 22 with outlet 46 places.In a preferred embodiment of the invention, the form of interconnecting component is a telescopic pipe, but its form also can be elasticity pipe or analog, for example, and the pipe of making by rubber or non-rigid plastics.Interconnecting component 26 can be operated three interactional nested apparatuses.Interconnecting component 26 moves between carriage 16, referring to Fig. 2.The first interconnecting component 26A is arranged between the opening 22 and the first carriage 16A, and the second interconnecting component 26B is arranged between the first carriage 16A and the second carriage 16B, and the 3rd interconnecting component 26C is arranged between the second carriage 16B and the 3rd carriage 16C.
The form of detection means 48 is optical sensors, and it detects apparatus and have a situation in carriage 16.Optical sensor 48 can also detect the type that apparatus belongs to.Apparatus is according to thickness and/or other recognition feature, the color of apparatus for example, and structure and/or material are divided into described type.In a further embodiment, be equipped with bar code to apparatus, detection means is then assembled with a bar code reader.Detection means 48 is arranged in outlet 46 places, and comprises an IR diode 104 and an IR phototransistor 106, and IR diode 104 and IR phototransistor 106 are arranged in the both sides of instrument channel 108, and referring to Fig. 6, apparatus passes this passage.Light propagates into IR phototransistor 106 through optical channel 110 from IR diode 104.Rely on voltage source and by the electric current of resistance limits, IR diode 104 sends IR light.Via optical channel 110, light ray propagation is to IR phototransistor 106.The electric current of infiltration what arrive how much deciding of IR phototransistor 106 by light.When not having apparatus in the instrument channel 108, arrive the light amount maximum of IR phototransistor 106.When having apparatus in optical channel 110, apparatus hinders flow of light and propagates into IR phototransistor 106, and therefore few light arrives this transistor.The light that arrives IR phototransistor 106 is many more, and is big more by the electric current of IR phototransistor 106, and ohmically voltage is high more.Analog/digital (A/D) transducer measuring voltage, measurement result sends to control assembly 30.
After detection and the locking apparatus, carriage 16 moves apparatus along with the user and moves.This passes through gearing 18 and control circuit is realized, and, so control, so that from control assembly 30, obtain a demand force.Force feedback is further describing subsequently.
Figure 7 shows that the latch members 44 of the preferred embodiment of the present invention.The central unit 50 that has torque wheel 52 is by bearing, and for example ball bearing or roller bearing connect middle part wall 42.Torque wheel 52 is equipped with a gear ring 54.The torque motor 56 that has motor hub 58 and torque motor gear 60, its driving torque wheel 52.Locking wheel 62 is by a bearing, ball bearing for example, and roller bearing, needle bearing or polymeric bushings are connected on the torque wheel 52.Furthermore, the locking motor 64 driving locking wheels 62 that have motor hub 66 and locking motor gear 68.Latch members 44 further comprises the chuck 70 of a clamping apparatus, but also comprises a base of the carrier head 72, and chuck 70 is arranged in the base of the carrier head.
Crank block 74 is arranged in the torque wheel 52, and crank block can vertically move with respect to torque wheel 52, and maintains static in sense of rotation.Described crank block 74 is equipped with wing.Wing moves in a guide rail, and guide rail is arranged in the torque wheel 52.Crank block 74 has a field of conjugate action, and this field of conjugate action is pressed towards the direction of the chuck 70 of an interlock apparatus lead.Replace crank block 74, also can use other clamping principle.
Two motors, torque motor 56 and locking motor 64 are fixed on the wall 42 of middle part.Be equipped with motor gear 60 and 68 on the motor drive shaft, gear is against gear ring 54 runnings of torque motor 56 and locking motor 64.
In the initial order of interfacing equipment, carriage 16 closely is placed to a row continuously, and a side that enters towards apparatus.The user is inserted into apparatus or utensil in the inlet tube 24, through the first interconnecting component 26A, enters the first carriage 16A.Next, through the central module 50 of carriage, go out from its outlet 46.Wherein, detection means 48, such as its form is optical sensor, that detects apparatus exists situation and type.Control assembly 30 is according to detected apparatus type decided locking apparatus whether.If the first carriage 16A does not have the locking apparatus, apparatus passes the first carriage 16A, after wherein going out, enters the second interconnecting component 26B, and further moves towards the second carriage 16B.
If the first carriage 16A locking apparatus then begins to carry out the locking process.Torque wheel 52 is fixed by torque motor 56.Next, locking motor 64 drives locking wheel 62 rotations, thereby crank block 74 pushes towards the direction of chuck 70, and chuck clamps peripheral part of apparatus.Latch members 44 and suspension plate 38 are fixed apparatus thus.
After the locking process is finished, next be control to power and moment of torsion.Have the position on high-frequency force controller control chassis 32, so that keep a power setting value in force transducer 40, high-frequency comes from force transducer 40.Power is delivered on the apparatus, and the user feels the power of this setting of existing in apparatus, and produces force feedback in the vertical.By means of torque motor 56, a moment of torsion is set in moment of torsion control, and produces force feedback in sense of rotation.The power of setting and the moment of torsion of setting are determined by simulation.Apparatus continuously sends to analog component 90 in the relevant information of vertical and sense of rotation position.
If the user extracts apparatus out, then carriage 16 begins to carry out releasing process through its initial position.The execution sequence of releasing process is opposite with the execution sequence of locking process.After the release, apparatus can be freely movable in carriage 16.
All carriage 16A-16C operate in an identical manner.The carriage of release along track 20 vertically along with moving apart from its nearest moving of previous carriage.For the flexible and reduction departure of motion that makes carriage, then use an internal speed control loop 86 and an external position control loop 88.The purposes of speed control loop 86 is each carriage 16 of control speed each other.The purposes of position control loop 88 is that the distance between maintenance carriage 16 and the previous carriage 16 is a constant.
The calcspar of Fig. 8 has shown control system G (s).System G (s) has represented one of them carriage (16A-16C) by vertical motor driven.F1 (s) is a controller, and speed of its control carriage is near a setting value, i.e. the demand speed CDV of carriage.F1 is in one of them processing element 10 of carriage 16.F1 produces a motor force that acts on carriage 16 vertical motors.
F2 (s) is a controller, and it is in the control assembly 30, promptly in PC.F2 with site error (physical location of demand position one carriage, CAP) and the speed of previous carriage 16 (actual speed of previous carriage PCAV) is combined into the setting speed of carriage 16.
F2 control CDV=C1 * (CAP-PCAP)+C2 * PCAV
Wherein,
The demand speed of CDV=carriage
The physical location of CAP=carriage
The physical location of the previous carriage of PCAP=
The actual speed of the previous carriage of PCAV=
C1 and C2 are constants
When carriage 16 locking apparatus or utensil, control assembly 30 control is near the power value DF of a demand.If the demand force value of selecting for example is zero, carriage 16 is with Be Controlled, thereby the user experiences the zero-g value in apparatus.If the user for example passes the narrow in the blood vessel in simulation, the user will feel in apparatus and have a resistance, next, the demand force value of expectation will be arranged to that resistance.In order to finish the above, force transducer 40 and the vertical motor of force feedback control loop 102 controls.Vertically motor is along track 20 driven bracket 16A-16C.The power that the user experiences in apparatus is measured by force transducer 40.The signal that force transducer 40 sends is fed in a control loop, sets power value SF near one.This force feedback control loop 102 as shown in Figure 9.
There is operable two types force feedback, i.e. " passive force feedback " and " active force feedback ".
It is zero (SF=0) that control assembly 30 is provided with SF to controller.According to SF, i.e. simulation wishes that the resistance that the user stands, control assembly determine the amplification coefficient (be not set power value) in the internal force control loop 112.This result of relevant friction force is compensated in the scope of a change among the system G (s), and is determined by loop amplification degree.
Example: under high amplification coefficient, the user stands the zero-g value.Under low amplification coefficient, the user stands big resistance.In this mode, friction force is the resistance that the user stands, as shown in Figure 9 the implementation procedure of " passive force feedback ".
Therefore, K=C1 * (1-C2 * DF)
Wherein,
The K=loop amplification degree, F3 (s)
The DF=demand force,
C1 and C2 are constants.
In order to provide one " active force feedback ", the power value SF that necessary demand for control power DF/ sets.In this case, vertically motor produces resistance, sees Figure 10.
The apparatus of vascular surgery inserted in the user will be used for by the inlet tube in the opening 22 24, and apparatus is conduit for example, balloon, lead and analog.Apparatus enters carriage 16A-16C by interconnecting component 26, and carriage 16A-16C detects apparatus, and controls apparatus, thus motion that can measuring apparatus, and motion produced feedback.
The interfacing equipment that has correlation control unit 30 has following function:
● measure at least three independently motions of nested apparatus.These apparatuses are the true apparatuses with a change, and level and smooth curve point is blocked.The motion of measuring comprises the vertical and sense of rotation of apparatus point.
● under the situation of depressing and unclamping, measure the position of pedal.
● measure flow from the contrast syringe.
● the pressure in the gaging pressure pump, forcing pump is given balloon inflation.
● send measured value to analog component 90.
● power on the instruments and moment of torsion, they are respectively from analog component 90.
● according to power that receives and moment of torsion, produce the force feedback of apparatus in vertical and sense of rotation.
● measure the signal that comes from a special equipment.
The control program of system and equipment, it is by same applicant's application, and denomination of invention be to narrate to some extent in the similar application of " interventional simulator control system " (SE 0203567-3), in this application can be in conjunction with as a reference.
By preferred embodiment and revise that invention has been described.Yet the present invention is not limited to illustrational embodiment, still, can be in the scope that does not break away from claim to its rewriting or carry out other modification.Possible is that a plurality of equipment are linked to each other with one or more PC, thereby simulates a synchronous intervention program.
Reference symbol
Processing unit 10
First carriage, second carriage, the 3rd carriage 16A-16C
Transmission device 18
Track 20
Opening 22
Inlet tube 24
Interconnecting component 26
First interconnecting component, second interconnecting component, the 3rd interconnecting component 26A-26C
Control assembly 30
Detection means 48
Central unit 50
Locking wheel 62
Locking motor 64
Locking motor hub 66
Locking motor gear 68
Base of the carrier head 72
Crank block 74
Speed control loop 86
Position control loop 88
Force feedback control loop 102
Internal force control loop 112
Claims (34)
1, a kind of equipment (100) in the simulation system, operation is intervened in this simulation system simulation, described equipment (100) is accepted the apparatus of a plurality of reality, preferably be the apparatus of two reality at least, equipment (100) comprising: a plurality of mobile stools (16A-16C), a track (20) and an interconnecting component (26), the quantity of carriage is consistent with the quantity of described real instrument.Wherein, described interconnecting component (26) connects described carriage (16A-16C) successively, an opening is arranged on each carriage (16A-16C), to guarantee to accept the apparatus of described reality, each carriage (16A-16C) further comprises the member of acceptance and at least one real instrument of locking, and comprising the member that moves and produce a power of accepting described apparatus, the force reaction of generation is in the described real instrument with regard to analog feature.
2, equipment as claimed in claim 1 is characterized in that, described opening (22) is in described interconnecting component (26).
3, equipment as claimed in claim 1 is characterized in that, described interconnecting component (26) is a telescopic pipe.
4, equipment as claimed in claim 1 is characterized in that, each carriage (16A-16C) comprises a detection means (48), and it detects the type of the described real instrument of inserting by described interconnecting component (26).
5, equipment as claimed in claim 1, it is characterized in that, described equipment (100) links to each other with a control assembly (30), measures moving of described carriage (16A-16C), and described mobile by a speed control loop (86) and a position control loop (88) control.
6, equipment as claimed in claim 1 is characterized in that, described carriage (16A-16C) is arranged to move along described track (20).
7, equipment as claimed in claim 1 is characterized in that, described carriage (16) has a physical location and an analog position, and actual bracket locations is determined the bracket locations of simulation from a ratio reckoner.
8, equipment as claimed in claim 1 is characterized in that, is connected by the described carriage of a gearing (18) (16A-16C), and gearing is used for driving along described track (20).
9, equipment as claimed in claim 1 is characterized in that, described carriage (16) is equipped with a crank block (74) that is placed in the torque wheel (52).
10, equipment as claimed in claim 1 is characterized in that, described crank block (74) has a field of conjugate action, and this field of conjugate action is pressed towards a chuck (70) direction, chuck interlock apparatus lead.
11, equipment as claimed in claim 1 is characterized in that, has power between suspension plate (38) and chassis (32), and this power is measured by force transducer (40), and the chassis is placed on the described carriage (16A-16C).
12, equipment as claimed in claim 1 is characterized in that, described carriage (16) is equipped with a detection means (48), and it detects the situation that exists of the middle apparatus of carriage (16).
13, equipment as claimed in claim 1 is characterized in that, described detection means (48) detects the type of each real instrument.
14, equipment as claimed in claim 13 is characterized in that, the apparatus of described reality is divided into described type according to following at least a feature: thickness, color, structure, material, characteristic and/or bar code.
15, equipment as claimed in claim 12 is characterized in that, described detection means (48) is an optical sensor.
16, equipment as claimed in claim 1, it is characterized in that, first interconnecting component (26A) is placed between described opening (22) and first carriage (16A), second interconnecting component (26B) is placed between first carriage (16A) and second carriage (16B), and the 3rd interconnecting component (26C) is placed between second carriage (16B) and the 3rd carriage (16C).
17, equipment as claimed in claim 1 comprises a processing element (10), the lengthwise movement of its measuring apparatus and rotatablely moving.
18, equipment as claimed in claim 1 comprises a processing element (10), and it provides the force feedback of the apparatus of reality in vertical and sense of rotation.
19, equipment as claimed in claim 1 is characterized in that, the end of described real instrument or the part of real instrument simulated.
20, equipment as claimed in claim 1 comprises a latch members (44), and it clamps an apparatus, and latch members (44) is connected to middle part wall (42).
21, equipment as claimed in claim 1 is characterized in that, described latch members (44) comprises a member that applies moment of torsion.
22, equipment as claimed in claim 1 is characterized in that, described crank block (74) is assemblied in the inside of torque wheel (52).With respect to torque wheel (52), crank block (74) moves along the longitudinal and maintains static in sense of rotation.
23, a kind of method of intervening operation by means of the equipment that in simulation system, uses (100) simulation, described equipment (100) is accepted the apparatus of a plurality of reality, preferably be the apparatus of two reality at least, equipment (100) comprising: a plurality of mobile stools (16A-16C), a track (20) and an interconnecting component (26), the quantity of carriage is consistent with the quantity of described apparatus.The step that method comprises is that the apparatus with a plurality of reality is inserted in the described equipment (100), each carriage that interconnects is successively accepted the apparatus of described reality, and carriage is accepted and at least one apparatus of locking, each carriage (16A-16C) further comprises accepts the member that described real instrument moved and produced a power, and the force reaction of generation is in the described real instrument with regard to analog feature.
24, the equipment described in any one of claim 1-22, equipment is used for simulation system, intervention program simulation system preferably, simulation system comprises at least one first interchangeable member and one second interchangeable member (16A-16C) and a control system, and control system comprises:
● first controller (F1 (s)), its speed of controlling the described first replaceable member (16A-16C) be near a setting value (CDV),
● second controller (F2 (s)), it becomes a locational error (CAP) and speed (PCAV) merging of the described second previous replaceable member setting speed of first member, wherein, second controller (F2) control CDV=C1 * (CAP-PCAP)+C2 * PCAV, C1 and C2 are constants.
25, the equipment described in any one of claim 1-22, equipment is used for simulation system, intervention program simulation system preferably, and simulation system comprises the device of the real instrument that a detection simulated, wherein, described device comprises the means of identification of discerning described apparatus.
26, intervention program as claimed in claim 25 is characterized in that, the described device that detects apparatus comprises at least one IR diode (104) and at least one IR phototransistor (106).
27, intervention program as claimed in claim 25 is characterized in that, described means of identification is by the thickness of described apparatus, color, structure, material, at least a composition in these several features of characteristic and/or bar code.
28, equipment described in any one of claim 1-22, equipment is used for simulation system, intervention program simulation system preferably, simulation system further comprises member, real instrument that simulated of its acceptance and locking, and comprise a control assembly (30), control assembly comprises force transducer (40), wherein, described control assembly (30) control is near a demand force value (DF), and the power that the user stands in apparatus is measured by force transducer (40), and the signal that sends from force transducer (40) is fed in a force feedback control loop (102), near the power of a setting.
29, the equipment described in any one of claim 1-22, equipment is used for simulation system, intervention program simulation system preferably, comprise a device that generates resistance in the real instrument of simulation, device comprises a control assembly (30), a force transducer (40), a force feedback control loop (102), it controls a driver equipment, and driver drives an apparatus in one direction and accepts member (16), and an internal force control loop (112).Wherein, the described resistance of described force sensor measuring, the signal that sends from force transducer is fed in described internal force control loop (112), the internal force control loop utilizes the power value (SF) of loop amplification degree (K) control near a setting, K and SF are provided by described control assembly, and internal force control loop (112) is controlled described driver.
30, simulation system as claimed in claim 29 is characterized in that, described control assembly (30) is controlled described loop amplification degree (K) to obtain a described resistance.
As claim 29 or 30 described simulation systems, it is characterized in that 31, the power (SF) of the described setting of described control assembly (30) control is to obtain a described resistance.
32, the equipment described in any one of claim 1-22, equipment is used for simulation system, intervention program simulation system preferably, simulation system comprises a device that generates resistance in the real instrument of simulation, and comprise the device of accepting and fixing a part of real instrument, apparatus is in the equipment, the motion of device measuring apparatus and to power of described real instrument feedback, and described device comprises a member that clamps described real instrument.
33, device as claimed in claim 32, device comprise a crank block (74), and it is placed in the torque wheel (52), described crank block (74) in described torque wheel (52) vertically on be movably.
34, device as claimed in claim 33 is characterized in that, described crank block (74) has a field of conjugate action, and this field of conjugate action is pressed towards the direction of the chuck (70) of a described apparatus part of interlock.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US60/430,345 | 2002-12-03 | ||
| SE0203568A SE526077C2 (en) | 2002-12-03 | 2002-12-03 | Interventional operation simulating device, has control unit to measure movement of carriages and to control movement by speed control and position control loop for providing feedback |
| SE02035681 | 2002-12-03 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1732492A true CN1732492A (en) | 2006-02-08 |
| CN100392686C CN100392686C (en) | 2008-06-04 |
Family
ID=20289741
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2003801075861A Expired - Fee Related CN100392686C (en) | 2002-12-03 | 2003-12-03 | An interventional simulation device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN100392686C (en) |
| SE (1) | SE526077C2 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104821124A (en) * | 2015-03-16 | 2015-08-05 | 北京大学口腔医学院 | Simulated major salivary gland model device and preparation method thereof |
| CN105096716A (en) * | 2015-09-01 | 2015-11-25 | 深圳先进技术研究院 | System for simulating endovascular intervention operation |
| CN114430847A (en) * | 2019-09-19 | 2022-05-03 | 西姆博尼克斯有限公司 | Multi-tool medical simulation system and method |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IL123073A0 (en) * | 1998-01-26 | 1998-09-24 | Simbionix Ltd | Endoscopic tutorial system |
| JP4662622B2 (en) * | 1998-01-28 | 2011-03-30 | イマージョン メディカル，インコーポレイティド | Interface apparatus and method for interfacing an instrument to a medical procedure simulation system |
| US6375471B1 (en) * | 1998-07-10 | 2002-04-23 | Mitsubishi Electric Research Laboratories, Inc. | Actuator for independent axial and rotational actuation of a catheter or similar elongated object |
-
2002
- 2002-12-03 SE SE0203568A patent/SE526077C2/en not_active IP Right Cessation
-
2003
- 2003-12-03 CN CNB2003801075861A patent/CN100392686C/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104821124A (en) * | 2015-03-16 | 2015-08-05 | 北京大学口腔医学院 | Simulated major salivary gland model device and preparation method thereof |
| CN105096716A (en) * | 2015-09-01 | 2015-11-25 | 深圳先进技术研究院 | System for simulating endovascular intervention operation |
| CN105096716B (en) * | 2015-09-01 | 2019-01-25 | 深圳先进技术研究院 | Intravascular intervention surgery simulation system |
| CN114430847A (en) * | 2019-09-19 | 2022-05-03 | 西姆博尼克斯有限公司 | Multi-tool medical simulation system and method |
| CN114430847B (en) * | 2019-09-19 | 2024-03-29 | 西姆博尼克斯有限公司 | Multi-tool medical simulation system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| SE0203568L (en) | 2004-08-03 |
| SE0203568D0 (en) | 2002-12-03 |
| SE526077C2 (en) | 2005-06-28 |
| CN100392686C (en) | 2008-06-04 |
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