CN201829118U - Device for simulating endoscopic surgery of knee joints - Google Patents
Device for simulating endoscopic surgery of knee joints Download PDFInfo
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- CN201829118U CN201829118U CN2010205487016U CN201020548701U CN201829118U CN 201829118 U CN201829118 U CN 201829118U CN 2010205487016 U CN2010205487016 U CN 2010205487016U CN 201020548701 U CN201020548701 U CN 201020548701U CN 201829118 U CN201829118 U CN 201829118U
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- guide rod
- displacement transducer
- fixed block
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Abstract
The utility model provides a device for simulating endoscopic surgery of knee joints. The device comprises a base and two control arms, wherein the control arm comprises a first bracket, a second bracket and a control head; the control head comprises a first frame, a second frame, a first angular displacement transducer, a second angular displacement transducer, a third angular displacement transducer, a linear displacement transducer, a fixed block, a first connection guide rod, a second connection guide rod, a third connection guide rod and a fourth connection guide rod; the first and the second frames are rotatably connected through the third and the fourth connection guide rods; the fixed block is rotatably connected with the first frame through the first and the second connection guide rods; the second angular displacement transducer is installed on the fixed block; and the rotating end of the fixed block is connected with a guide rail of the linear displacement transducer. For the device, the positions and the angles of a scalpel and an endoscope can be flexibly adjusted according to different users and different operating habits of the users, so that the effect of realistically simulating a joint operation is achieved, and the training time for surgeons is shortened.
Description
Technical field
The utility model belongs to the virtual operation apparatus field, relates in particular to a kind of device of virtual laparoscopic surgery.
Background technology
Virtual operation claims operation emulation again, is that virtual reality technology is in application on medical field.Virtual reality technology shows anatomical structure, anatomical position, physical features and the physiological characteristic in human body device palace realistically by the sense of reality method for drafting in the computer graphics, the various phenomenons that may run in the sham operated process, for the doctor provides a virtual surgical scene, simultaneously by interactive device, the doctor can be perceived with the mutual of virtual organ and by finishing the simulation of surgical procedure alternately with the virtual human body organ.System of virtual operation can be for doctor undergo surgery training, surgical planning even auxiliary real operative treatment.Arthrocsopic surgery begins to be mainly used in knee joint, and 20 beginnings of the century were originated from Japan, obtains significant progress in countries such as the U.S. after the seventies in 20th century.Arthroscopic surgical instruments costs an arm and a leg, patient's operation demand is more, but the skilled doctor who uses is few, mainly be that arthrocsopic surgery has a lot of restraining factors, narrow as doctor's the visual field, the cooperation of hand, eye is restricted, the scope of activities of operating theater instruments is limited, operation technique difficulty height, without long-term training and experience accumulation, the doctor is difficult to be competent at.And present method is to allow be observed experienced surgical operation by the trainer, to be familiar with the whole surgery process, or replace with other plastics Counterfeit Items, the trainee can't experience power correct between operating theater instruments and the tissue alternately, risk is very high during so formal operation.Compare with the operation demand of fast development, lacking on top of, the doctor of arthrocsopic surgery is the bottleneck that the restriction arthrocsopic surgery is popularized development.How to provide a kind of better mode the arthroscopic surgery operation personnel are trained and to educate, become this area problem demanding prompt solution with time and the cost that shortens knowledge acquisition, arthrocsopic surgery training system based on virtual reality technology can be carried out training whenever and wherever possible, use cost is very low, development for surgical technic has very high use value with popularization undoubtedly, but the research many places of current domestic virtual laparoscopic surgery are in software development phase, the development of hardware interactive device seriously lags behind, and becomes a big obstacle of arthrocsopic surgery virtual training level raising for this reason.
The utility model content
The problem that is run at the virtual field of above-mentioned current arthrocsopic surgery, the utility model provides a kind of virtual laparoscopic surgery device, it can be according to user's difference and different operating habits thereof, adjust the position and the angle of scalpel and endoscope flexibly, can reach the effect of realistic simulation operation on joint, in addition, this apparatus structure is simple, easy operating and maintenance.
The technical solution of the utility model is: virtual laparoscopic surgery device comprises base and two control arms that are installed on the described base, described control arm comprises first support that is installed on the described base, second support that is connected with described first support and the manipulation head that is connected the described second support end, this manipulation head comprises first framework, is sleeved on the second outer framework of first framework, be equiped with along mechanism that X-direction is rotated on first framework and second framework, rotate and straight-line mechanism along mechanism that Y direction is rotated and along Z-direction, wherein:
Comprise first angular displacement sensor that is installed on first frame side wall along the mechanism that X-direction is rotated and is connected the fixed block that guide rod, the second connection guide rod are connected with first framework by being installed in first on first frame side wall, wherein, fixed block can connect guide rod with first be connected guide rod with second be an axle rotation;
Comprise the third angle displacement transducer that is installed on second frame side wall along the mechanism that Y direction is rotated and be connected first framework and be connected guide rod with the 3rd of second framework and be connected guide rod with the 4th, wherein, first framework can connect guide rod with the 3rd relative to second framework be connected guide rod with the 4th serve as spool to rotate;
Include second angular displacement sensor and the linear displacement transducer that is installed on the fixed block along Z-direction rotation and straight-line mechanism, wherein, the measuring junction of second angular displacement sensor is connected with the pull bar of linear displacement transducer.
Described two control arms can be installed on the same side of described base and the central plane symmetry of described relatively base.
Described first support is being connected of scalable relative angle with described second support with described base, can fix by nut.
Described the 3rd connection guide rod is connected guide rod with the 4th be to be connected on described second framework by first needle bearing and second needle bearing that is installed on described second framework, and the described first connection guide rod is connected guide rod with second be to be connected on described first framework by the 3rd needle bearing and the 4th needle bearing that is installed on described first framework.
Described fixed block is divided into being easy to install to be changed described first and connects guide rod is connected guide rod with second two parts up and down.
Described first angular displacement sensor and third angle displacement transducer are respectively and be provided with first pad and second pad between described first framework and second framework.
The utility model can be according to user's different and different operating habit, adjust the position and the angle of scalpel and endoscope flexibly, reach the effect of realistic simulation operation on joint, shortened the training time of surgical doctor, saved training cost, in addition, this apparatus structure is simple, easy operating and maintenance.
Description of drawings:
Fig. 1 analyzes synoptic diagram for the utility model degree of freedom;
Fig. 2 handles head assembling explosive view for the utility model;
Fig. 3 is the utility model outside framework sensor installation synoptic diagram;
Fig. 4 is the utility model support and outside framework scheme of installation;
Fig. 5 is the utility model inner frame sensor installation synoptic diagram;
Fig. 6 installs for the utility model inner frame and connects the guide rod synoptic diagram;
Fig. 7 is the utility model fastening block and sensor scheme of installation;
Fig. 8 is the utility model support and base scheme of installation;
Fig. 9 is the overall wiring layout of the utility model.
Embodiment:
Below in conjunction with the drawings and specific embodiments the utility model is described further.
Shown in Fig. 2-9, virtual laparoscopic surgery device comprises base 36 and two control arms 100 that are installed on the described base 36, described control arm 100 comprises first support 26 that is installed on the described base 36, second support 25 that is connected with described first support 26 and the manipulation that is connected described second support 25 ends 101, this manipulation 101 comprises first framework 15, be sleeved on second framework 16 outside first framework 15, be equiped with the mechanism that rotates along X-direction on first framework 15 and second framework 16, rotate and straight-line mechanism along the mechanism of Y direction rotation and along Z-direction, wherein:
Comprise first angular displacement sensor 1 that is installed on first framework, 15 sidewalls along the mechanism that X-direction is rotated and is connected the fixed block 10 that guide rod 5, the second connection guide rod 13 are connected with first framework 15 by being installed in first on first framework, 15 sidewalls, wherein, fixed block 10 can connect guide rod 5 with first be connected guide rod 13 with second serve as a rotation;
Comprise the third angle displacement transducer 21 that is installed on second framework, 16 sidewalls along the mechanism that Y direction is rotated and be connected first framework 15 and be connected guide rod 12 with the 3rd of second framework 16 and be connected guide rod 17 with the 4th, wherein, first framework 15 can connect guide rod 12 with the 3rd relative to second framework 16 be connected guide rod 17 with the 4th serve as spool to rotate;
Include second angular displacement sensor 8 and the linear displacement transducer 7 that is installed on the fixed block 10 along Z-direction rotation and straight-line mechanism, wherein, the measuring junction of second angular displacement sensor 8 is connected with the pull bar of linear displacement transducer 7.
Described two control arms 100 can be installed on the same side of described base 36 and the central plane symmetry of described relatively base 36.
Described first support 26 is being connected of scalable relative angle with described second support 25 with described base 36, and can fix by nut, and this kind design makes the use of this device have more dirigibility.
Described the 3rd connection guide rod 12 is connected guide rod 17 with the 4th be to be connected on described second framework 16 by first needle bearing 11 and second needle bearing 18 that is installed on described second framework 16, and the described first connection guide rod 5 is connected guide rod 13 with second be to be connected on described first framework 15 by the 3rd needle bearing 4 and the 4th needle bearing 14 that is installed on described first framework 15.Needle bearing can make the rotation in the sham operated more flexible, free.
Described fixed block 10 is divided into being easy to install changes the described first connection guide rod 5 is connected guide rod 13 with second two parts up and down, is fixed on four M8 threaded hole 34 places by four socket head cap screws 6 and realizes assembling.
Second angular displacement sensor 8 installs and fixes by interstitial hole 33 interference fit with fastening block 10, and it can gather the rotation amount from linear displacement transducer 7.
Described first angular displacement sensor 1 and third angle displacement transducer 21 respectively and be provided with first pad 3 and second pad 19 between described first framework 15 and second framework 16 are installed by a M5 threaded hole 31 by slotted screw 2 respectively and are installed by the 2nd M5 threaded hole 22 by slotted screw 20.Wherein, first angular displacement sensor 1 reaches the purpose of catching one degree of freedom in the virtual operation by measuring first amount of spin that connects guide rod 5, and third angle displacement transducer 21 reaches the purpose of catching another degree of freedom in the virtual operation by measuring the 4th amount of spin that connects guide rod 17.
In the present embodiment, first connects guide rod 5 is connected guide rod 13 and fastening block 10 with second fastener hole 35 for interference fit is connected, and the 3rd connection guide rod 12 is connected guide rod 17 and is connected for interference fit with first fastener hole 39, second fastener hole 40 of first framework 15 with the 4th.Is the movement decomposition of scalpel in the simulated surgical operation on wound that fastening block 10 is connected rotation that guide rod 12 with four be connected guide rod 17 with first framework 15 around the 3rd around the first connection guide rod 5 is connected guide rod 13 with second rotation.
Socket head cap screw 6 is connected with threaded hole 38 on the base 36 by the through hole 37 of first support, 26 bottoms, and the degree of tightness by socket head cap screw 6 can realize the fixing and rotation of first support 26 with respect to base 36.
Principle of work of the present utility model is as follows: as shown in Figure 1, the laparoscopic surgery operation is decomposed into the motion of four degree of freedom: rotate, rotate, move and the autorotation of Z axle along the Z axle around Y-axis around X-axis.First connects in guide rod 5 is connected guide rod 13 with second the rotation realization operation technique and rotates around X-axis in the utility model device; The 3rd connection guide rod 12 is connected guide rod 17 with the 4th rotation realizes rotating around Y-axis in the operation technique; Linear displacement transducer 7 is caught in the operation technique along Z axle movable information along the straight-line displacement feeding of pull bar according to its sliding sleeve 50; Fastening block 10 fixing angular displacement sensors 8 are caught Z axle autorotation information; Rotate linear displacement transducer 7 by hand, angular displacement sensor 8 and linear displacement transducer 7 rotate together, so just can catch the information of this rotation.First connects guide rod 5 is connected guide rod 13 with second rotation and is caught by angular displacement sensor 1 in the utility model; The 3rd connection guide rod 12 is connected the rotation of guide rod 17 and is caught by angular displacement sensor (21) with the 4th.
The utility model can be according to user's different and different operating habit, adjust the position and the angle of scalpel and endoscope flexibly, reach the effect of realistic simulation operation on joint, shortened the training time of surgical doctor, saved training cost, in addition, this apparatus structure is simple, easy operating and maintenance.
Claims (6)
1. virtual laparoscopic surgery device, comprise base (36) and be installed in two control arms (100) on the described base (36), it is characterized in that: described control arm (100) comprises first support (26) that is installed on the described base (36), second support (25) that is connected with described first support (26) and be connected the manipulation head (101) of described second support (25) end, this manipulation head (101) comprises first framework (15), be sleeved on second framework (16) in first framework (15) outside, be equiped with the mechanism that rotates along X-direction on first framework (15) and second framework (16), rotate and straight-line mechanism along the mechanism of Y direction rotation and along Z-direction, wherein:
Comprise first angular displacement sensor (1) that is installed on first framework (15) sidewall along the mechanism that X-direction is rotated and is connected the fixed block (10) that guide rod (5), the second connection guide rod (13) are connected with first framework (15) by being installed in first on first framework (15) sidewall, wherein, fixed block (10) can connect guide rod (5) with first be connected guide rod (13) with second be a rotation;
Comprise the third angle displacement transducer (21) that is installed on second framework (16) sidewall along the mechanism that Y direction is rotated and be connected first framework (15) and be connected guide rod (12) with the 3rd of second framework (16) and be connected guide rod (17) with the 4th, wherein, first framework (15) can connect guide rod (12) with the 3rd relative to second framework (16) be connected guide rod (17) with the 4th serve as spool to rotate;
Include second angular displacement sensor (8) and the linear displacement transducer (7) that is installed on the fixed block (10) along Z-direction rotation and straight-line mechanism, wherein, the measuring junction of second angular displacement sensor (8) is connected with the pull bar of linear displacement transducer (7).
2. virtual laparoscopic surgery device according to claim 1 is characterized in that: described two control arms (100) are installed on the same side of described base (36) and the central plane symmetry of described relatively base (36).
3. virtual laparoscopic surgery device according to claim 1 is characterized in that described first support (26) is being connected of scalable relative angle with described second support (25) with described base (36).
4. virtual laparoscopic surgery device according to claim 1, it is characterized in that described the 3rd connection guide rod (12) is connected guide rod (17) with the 4th be to be connected on described second framework (16) by first needle bearing (11) and second needle bearing (18) that is installed on described second framework (16), the described first connection guide rod (5) is connected guide rod (13) with second be to be connected on described first framework (15) by the 3rd needle bearing (4) and the 4th needle bearing (14) that is installed on described first framework (15).
5. virtual laparoscopic surgery device according to claim 1 is characterized in that described fixed block (10) is divided into to be easy to install to change described first and to connect guide rod (5) is connected guide rod (13) with second two parts.
6. virtual laparoscopic surgery device according to claim 1 is characterized in that described first angular displacement sensor (1) and third angle displacement transducer (21) are respectively and be provided with first pad (3) and second pad (19) between described first framework (15) and second framework (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205487016U CN201829118U (en) | 2010-09-28 | 2010-09-28 | Device for simulating endoscopic surgery of knee joints |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205487016U CN201829118U (en) | 2010-09-28 | 2010-09-28 | Device for simulating endoscopic surgery of knee joints |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201829118U true CN201829118U (en) | 2011-05-11 |
Family
ID=43967640
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010205487016U Expired - Lifetime CN201829118U (en) | 2010-09-28 | 2010-09-28 | Device for simulating endoscopic surgery of knee joints |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201829118U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101950502A (en) * | 2010-09-28 | 2011-01-19 | 广东工业大学 | Virtual knee arthroscopic surgery device |
| CN103258469A (en) * | 2013-05-14 | 2013-08-21 | 复旦大学附属华山医院 | Shoulder arthroscopy knotting simulation simulator |
-
2010
- 2010-09-28 CN CN2010205487016U patent/CN201829118U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101950502A (en) * | 2010-09-28 | 2011-01-19 | 广东工业大学 | Virtual knee arthroscopic surgery device |
| CN101950502B (en) * | 2010-09-28 | 2013-05-01 | 广东工业大学 | Virtual knee arthroscopic surgery device |
| CN103258469A (en) * | 2013-05-14 | 2013-08-21 | 复旦大学附属华山医院 | Shoulder arthroscopy knotting simulation simulator |
| CN103258469B (en) * | 2013-05-14 | 2015-03-11 | 复旦大学附属华山医院 | Shoulder arthroscopy knotting simulation simulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20110511 Effective date of abandoning: 20130501 |
|
| RGAV | Abandon patent right to avoid regrant |