CN203433729U - Operating knife interface device for realizing man-machine interaction in virtual operation training - Google Patents
Operating knife interface device for realizing man-machine interaction in virtual operation training Download PDFInfo
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- CN203433729U CN203433729U CN201320598433.2U CN201320598433U CN203433729U CN 203433729 U CN203433729 U CN 203433729U CN 201320598433 U CN201320598433 U CN 201320598433U CN 203433729 U CN203433729 U CN 203433729U
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Abstract
The utility model discloses an operating knife interface device for realizing man-machine interaction in virtual operation training, which comprises a mounting base (1) and an operation knife device (14) arranged on the mounting base (1). The mounting base (1) is also provided with a plurality of active/passive hybrid drivers and connecting rods. The operation knife device (14) is connected with the mounting base (10 through the active/passive hybrid drivers and a connecting rod mechanism. The utility model aims to provide the operating knife interface device for realizing man-machine interaction in virtual operation training, which has high fidelity and can simulate phenomena of cutting and acupuncture, etc. on human body tissue in operation process. According to the operating knife interface device, compensation for non-beneficial comprehensive damping force of passive force sensing interaction equipment by means of an active driver is a better settlement solution, and furthermore a problem of incapability of simulating an energy storage component by the passive force sensing interaction equipment is effectively settled.
Description
Technical field
The utility model relates to medical assistance technique with the apparatus field, is specifically related to realize for virtual operation training the scalpel interface arrangement of man-machine interaction.
Background technology
Along with scientific and technological development, people are more and more higher to the requirement of life and health quality, countries in the world to medical skill particularly operating security higher requirement is proposed, statistics shows, the error of clinical operation 80% is that human error causes.The HealthGrades of U.S. Yi Jia health care rating organization has carried out an investigation of 3 years by a definite date, result shows: at investigating period, have 230,000 people and die from surgical error, so operative training is very important for the surgical growth of youth, yet there are problems in traditional operation training patterns, in order to solve the limitation of traditional operation training patterns, virtual operation technology becomes one of research in recent years focus.
Traditional operative training depends on corpse, patient, inorganic material synthetic model of living animal, animal and human etc., many problems are faced with formidable challenges operative training, living animal generally can not go out human anatomy feature by accurate response, and cost is higher and be subject to the restriction of animal protection relevant law; Spoil is comparatively cheap, the problem that still anatomical features of existence and human body differs greatly; People's corpse negligible amounts, has different physiological characteristics from the organ-tissue of live body, can not produce bleed, the physiological phenomenon such as blood pressure, and there is nonrepeatability feature, also relate to morals and ethics problem; When carrying out operative training for patient, bad degree of depth sense of touch, limited visual zone and improperly hand eye coordination are easy to patient to produce injury, exist very large danger; The shortcoming of inorganic material synthetic model is comparatively obvious, comprises physiological characteristic poor reproducibility and the limited problems such as variability of anatomical features of existing.Therefore young surgeon participates in operative training chance and number of times are limited by very large, and want the level of skill that reaches necessary to need study for a long time and training repeatedly, for example, a doctor wants to make keyhole surgery to reach skilled degree needs the surgical procedure training of at least 750 times.High speed development along with Robotics, computer graphics, physiotechnology and mathematical modeling technology, the operative training that virtual operation training system based on virtual reality is medical personnel provides chance, and the series of problems also facing for traditional operation training provides a kind of tool potential solution.In virtual operation training process, doctor performs the operation to virtual organ by power haptic apparatus, feel all right as real organ being operated in the middle of they are in real environment, virtual operation is unconfined repetitive operation in the least not only, and different training difficulty can be set as required, allow healthcare givers's repetition training of different stage, the result of training also can save and facilitate later study, and the cost that training is spent is also very low.Simultaneously can be used for assessing surgical outcome, comprised the degree of accuracy of operating time, operation technique, the quantity of the terseness of action, human error, the length of operation pathway, patient's security, trainee individual satisfaction etc., by the raising of these basic parameters, can guarantee successful surgery and lower patient's misery, improve success rate of operation.The experience obtaining in virtual operation can be applied in actual operation, the research of Reznick and MacRae shows: the doctor who trains by virtual operation its speed when doing dissection operation is faster, error still less and move that more terseness score is higher, according to the people's such as Larsen and Soerensen assessment, the experience obtaining from virtual operation training can be directly used in operating room, in first operation, through doctor's operant level of to a certain degree training, can reach the level through a year or clinical training doctor of longer time.Because virtual operation training system provides, plant not only safety but also the training program of saving and be proved effective, having obtained countries in the world and more and more pay close attention to.
What exist at present trains for virtual operation the operation tool interface arrangement of realizing man-machine interaction, no matter be business-like dynamic sensing interexchanging apparatus, or the power haptic interaction device based on these equipment developments, or other power haptic interaction device newly developed, great majority are by motor-driven active force haptic interaction device, active power haptic interaction device has very large dirigibility while training for virtual operation, but exists following problem:
(1) stability is relatively poor, and this is mainly to be caused by motor or the intrinsic characteristic of other active drive device self;
(2) fidelity is relatively poor, during in the hard contact of simulation as to tooth or bone-operating, motor easily produces vibration in stall state, cause with true environment operation and compare, distortion is larger, when simulation human body human body operation on soft tissue, because human body when injected organism tissue particularly viscera tissue is not the elastic body in complete meaning, when pressurized, cutting or acupuncture, it is nonlinear elastic deformation, there is certain glutinousness feature, therefore utilize initiatively interactive device to organize the simulation of surgical procedure to have larger distortion to these;
(3) there is certain danger, although the securities of many redundant components to guarantee that whole system operates that current virtual operation training interactive device is integrated, in fact these Redundancy Design strategies have also reduced the risk of accident surgery widely, but the thrashing that may exist can make patient come to harm, cause thrashing because have motor, amplifier, sensor fault, also be likely the undiscovered program error existing in complex control algorithm, the recoil strength of motor easily produces injury to operator on the other hand;
(4) volume is larger, and research shows, produces the power of formed objects, and the volume of active drive device is more much bigger than passive matrix device, causes thus the inertia of driving mechanism, friction force all larger, also easily causes larger distortion;
(5) energy consumption is larger, a motor-driven small-business force feedback operating rod applies continuous power consumed power to operator and reaches 10 ~ 30 watts, and the energy of a desk-top force feedback equipment consumption will be more, therefore need to be equipped with external power adapter, the portability of equipment is had a greatly reduced quality, and this is also a very large problem in the design of active force sense interactive device.
Passive type power interactive device is applied to can keep good stability, security and lower energy consumption in virtual operation training, but the Mechanical Contact because the generation of feedback force places one's entire reliance upon, so easily cause the vibration of system when using high-speed switch controller to control, also there is great difficulty in simulation when injected organism tissue compliance.What is more, and friction material has higher kinetic friction coefficient, easily causes stick-slip phenomenon to occur, and this phenomenon can cause the discontinuous of feedback force, makes simulation process occur distortion.In addition, by dynamical type haptic interaction device, also there is born shortcoming, cannot simulate energy storage object as elastic body.Although magnetic flow liquid can be simulated glutinousness object preferably, but people's when injected organism tissue has elasticity and glutinousness simultaneously, utilize the power haptic interaction device of passive matrix device design to have certain non-useful comprehensive damping force, the intrinsic deficiency of equipment cannot be compensated these non-useful comprehensive damping forces, therefore cannot simulate the power that is less than its non-useful comprehensive damping force, as produced distortion when simulation is moved without constraint space.
Summary of the invention
The purpose of this utility model be to provide a kind of fidelity high, the phenomenons such as when injected organism tissue cutting, acupuncture are realized to the scalpel interface arrangement of man-machine interaction in virtual operation training in can sham operated process, the non-useful comprehensive damping force that the present invention utilizes active drive device to compensate passive force sense interactive device is a good solution, has effectively solved by power haptic interaction device and cannot simulate energy-storage travelling wave tube problem.
The utility model is achieved through the following technical solutions:
A kind of scalpel interface arrangement of realizing man-machine interaction for virtual operation training, comprise the upper operating knife device (14) arranging of mounting seat (1) and mounting seat (1), in described mounting seat (1), be also provided with a plurality of active/passive hybrid drives and connecting rod, operating knife device (14) is connected with mounting seat (1) by active/passive hybrid drive and connecting rod;
Described active/passive hybrid drive comprises the first active/passive hybrid drive (2), the second active/passive hybrid drive (3), the 3rd active/passive hybrid drive (4), the 4th active/passive hybrid drive (5);
Described connecting rod comprises first connecting rod (6), second connecting rod (7), third connecting rod (8), the 4th connecting rod (9), the 5th connecting rod (10), the 6th connecting rod (11);
Described the first active/passive hybrid drive (2) is fixedly installed on the side of mounting seat (1), the second active/passive hybrid drive (3) is fixedly installed on the bottom surface of mounting seat (1), the first active/passive hybrid drive (2) is connected with one end of first connecting rod (6) by the upper bearing arranging of output shaft (15), the second active/passive hybrid drive (3) is connected with one end of second connecting rod (7) by the upper bearing arranging of output shaft (15), opposite end is connected with the sliding bearing (12) arranging on first connecting rod (6) body of rod by universal joint, third connecting rod (8), the 4th connecting rod (9), the 5th connecting rod (10), the 6th connecting rod (11) two two ends are connected to form parallel four-bar linkage structure, first connecting rod (6) free end is by rolling bearing (13) and third connecting rod (8), the 6th connecting rod (11) junction, two ends connects, third connecting rod (8) opposite end is fixedly installed the 3rd active/passive hybrid drive (4), the 3rd active/passive hybrid drive (4) is connected with the 4th connecting rod (9) one end by the upper rolling bearing (13) arranging of output shaft (15), the 6th connecting rod (11) opposite end is fixedly installed the 4th active/passive hybrid drive (5), the 4th active/passive hybrid drive (5) is connected with the 5th connecting rod (10) one end by the upper rolling bearing (13) arranging of output shaft (15), the 4th connecting rod (9), the 5th connecting rod (10) junction, two ends is connected with operating knife device (14) by rolling bearing (13),
Described the first active/passive hybrid drive (2), the second active/passive hybrid drive (3), the 3rd active/passive hybrid drive (4), the 4th active/passive hybrid drive (5) and operating knife device (14) carry out data interaction by controller and virtual operation environment.
The further Technological improvement plan of the present invention is:
Described operating knife device (14) comprises the power sensor (142) arranging on scalpel (141) and handle of a knife thereof.
The further Technological improvement plan of the present invention is:
Described active/passive hybrid drive comprises drive motor (16), speed reduction unit (17), magnetic rheological liquid damper (18) and angular transducer (19), drive motor (16) is rotationally connected by speed reduction unit (17) and magnetic rheological liquid damper (18), magnetic rheological liquid damper (18) is provided with output shaft (15), and angular transducer (19) is positioned at drive motor (16) bottom.
The further Technological improvement plan of the utility model is:
Described the first active/passive hybrid drive (2) is positioned at same vertical plane with the axis of the second active/passive hybrid drive (3) output shaft (15), and the two angle is 90 °.
The utility model patent compared with prior art, has following obvious advantage:
1, the utility model adopts the magnetic rheological liquid damper based on emerging magnetic converting technique, magnetic flow liquid produces magnetic rheology effect under magnetic fields, the apparent viscosity that characterizes magnetic current and liquid flow variation characteristic is changed, can from Newtonian liquid state variation, be class solid state in moment, and this process is reversible, so magnetic flow liquid has unique advantage aspect simulation when injected organism tissue compliance.Magnetic rheological liquid damper is not directly contact of machinery, but utilizes fluid carry-over moment, therefore more stable and continuous.
2, the utility model magnetic rheological liquid damper can be simulated the glutinousness feature of when injected organism tissue effectively, cannot simulate the flexible stress characteristic of when injected organism tissue, therefore adopt motor to combine with magnetic rheological liquid damper, the active/passive hybrid drive of composition based on motor and magnetic rheological liquid damper, can realize the simulation of when injected organism tissue elasticity and glutinousness, moreover, hybrid drive can be realized in a big way and the force feedback of response fast, make scalpel interface arrangement can with high fidelity simulate the cutting to the different when injected organism tissues of human body (from harder bone tissue to softer brain tissue), the processes such as acupuncture.
3, operating knife device that the utility model adopts has four freedoms of motion and three power degree of freedom, three power degree of freedom respectively can sham operated cutter insertion in when injected organism tissue, cut and stir, make surgical procedure simulation better authenticity.
4, the utility model is for the third connecting rod of the parallel four-bar linkage of sham operated cutter cutting and the power that the 4th connecting rod can be realized one degree of freedom, and the 5th connecting rod and the 6th connecting rod belong to redundant configuration, can increase the stability of cutting action.
5, the utility model is simple in structure, and whole apparatus structure is simple, compact, and machining accuracy requires also not high.
6, the whole device of the utility model adopts light material to make, make its moment of inertia little, the non-useful comprehensive damping forces such as magnetic rheological liquid damper and machining friction force can compensate by motor, thereby make scalpel damping force under free state very little.
7, the utility model is controlled simply, and current signal and magnetic rheological liquid damper output torque signal exist clear and definite funtcional relationship, therefore only need provide current signal just can control exactly its action to damper.
Accompanying drawing explanation
Fig. 1 is interface arrangement structural representation of the present utility model;
Fig. 2 is the active/passive hybrid drive structural representation of the utility model sketch;
Fig. 3 is the utility model systematic schematic diagram.
Embodiment
As shown in Figure 1, 2, 3, the utility model comprises the operating knife device 14 arranging in mounting seat 1 and mounting seat 1, in mounting seat 1, be also provided with a plurality of active/passive hybrid drives and connecting rod, operating knife device 14 is connected with mounting seat 1 by active/passive hybrid drive and connecting rod, operating knife device 14 comprises the power sensor 142 arranging on scalpel 141 and handle of a knife thereof, active/passive hybrid drive comprises drive motor 16, speed reduction unit 17, magnetic rheological liquid damper 18 and angular transducer 19, drive motor 16 is rotationally connected by speed reduction unit 17 and magnetic rheological liquid damper 18, magnetic rheological liquid damper 18 is provided with output shaft 15, and angular transducer 19 is positioned at drive motor 16 bottoms, active/passive hybrid drive comprises active/passive hybrid drive the 4, the 4th active/passive hybrid drive 5 of the active/passive hybrid drive the 3, the 3rd of the first active/passive hybrid drive 2, second, the axis of the first active/passive hybrid drive 2 and the second active/passive hybrid drive 3 output shafts 15 is positioned at same vertical plane, and the two angle is 90 °, connecting rod comprises first connecting rod 6, second connecting rod 7, third connecting rod 8, the 4th connecting rod 9, the 5th connecting rod 10, the 6th connecting rod 11, the first active/passive hybrid drive 2 is fixedly installed on the side of mounting seat 1, the second active/passive hybrid drive 3 is fixedly installed on the bottom surface of mounting seat 1, the first active/passive hybrid drive 2 is connected with one end of first connecting rod 6 by the bearing arranging on output shaft 15, the second active/passive hybrid drive 3 is connected with one end of second connecting rod 7 by the bearing arranging on output shaft 15, opposite end is connected with the sliding bearing 12 arranging on first connecting rod 6 bodies of rod by universal joint, third connecting rod 8, the 4th connecting rod 9, the 5th connecting rod 10, the 6th 11 liang, connecting rod two ends is connected to form parallel four-bar linkage structure, first connecting rod 6 free ends are by rolling bearing 13 and third connecting rod 8, the 6th connecting rod 11 junctions, two ends connect, third connecting rod 8 opposite ends are fixedly installed the 3rd active/passive hybrid drive 4, the 3rd active/passive hybrid drive 4 is connected with the 4th connecting rod 9 one end by the rolling bearing 13 arranging on output shaft 15, the 6th connecting rod 11 opposite ends are fixedly installed the 4th active/passive hybrid drive 5, the 4th active/passive hybrid drive 5 is connected with the 5th connecting rod 10 one end by the rolling bearing (13) arranging on output shaft 15, the 4th connecting rod 9, the 5th connecting rod 10 junctions, two ends are connected with operating knife device 14 by rolling bearing 13, active/passive hybrid drive the 4, the 4th active/passive hybrid drive 5 of the active/passive hybrid drive the 3, the 3rd of the first active/passive hybrid drive 2, second and operating knife device 14 carry out data interaction by controller and virtual operation environment.
Sketch by reference to the accompanying drawings principle of work of the present utility model:
The utility model scalpel interface arrangement structure is as Fig. 1, shown in 2, scalpel and patient that trainer controls under virtual operation environment by operation handle of a knife carry out alternately, during scalpel motion, the angular transducer of active/passive hybrid drive is measured direction of motion and the speed of scalpel, controlling analog scalpel moves in virtual environment by identical direction and speed, affected area as analog scalpel contact patient, the acting force of virtual when injected organism tissue will be subject to, this force signal is delivered to scalpel interface arrangement by controller, control certain active/passive hybrid drive action of scalpel interface arrangement, hand people produces onesize power, the power sensor of knife handle detects this power simultaneously, and by this power with from the power of virtual operation environment be passed back, compare, if any deviation, adjust immediately, making trainer's hand, stressed can to follow the tracks of real-time and accurately analog scalpel stressed.The horizontally disposed active/passive hybrid drive of scalpel interface arrangement can be realized the simulation that scalpel inserts when injected organism tissue power, the vertically disposed active/passive hybrid drive of scalpel interface arrangement can be realized the simulation that when injected organism tissue power is stirred in left and right, and the active/passive hybrid drive arranging in scalpel interface arrangement parallel four-bar linkage can be realized the simulation to when injected organism tissue cutting force.Therefore, the simulation of power such as is stirred in insertion, cutting and the left and right that the scalpel interface arrangement that the present invention realizes man-machine interaction for virtual operation training can be realized when injected organism tissue, again because adopt the driver based on motor and magnetic rheological liquid damper combination drive, make operative training process have more authenticity, for effectively promoting the raising of young doctor surgical technic to play positive role.
The utility model does not relate to partly all prior aries that maybe can adopt same as the prior art to be realized.
Claims (4)
1. for virtual operation training, realize the scalpel interface arrangement of man-machine interaction, comprise the upper operating knife device (14) arranging of mounting seat (1) and mounting seat (1), it is characterized in that: in described mounting seat (1), be also provided with a plurality of active/passive hybrid drives and linkage assembly, operating knife device (14) is connected with mounting seat (1) by active/passive hybrid drive and linkage assembly;
Described active/passive hybrid drive comprises the first active/passive hybrid drive (2), the second active/passive hybrid drive (3), the 3rd active/passive hybrid drive (4), the 4th active/passive hybrid drive (5);
Described linkage assembly comprises first connecting rod (6), second connecting rod (7), third connecting rod (8), the 4th connecting rod (9), the 5th connecting rod (10), the 6th connecting rod (11);
Described the first active/passive hybrid drive (2) is fixedly installed on the side of mounting seat (1), the second active/passive hybrid drive (3) is fixedly installed on the bottom surface of mounting seat (1), the first active/passive hybrid drive (2) is connected with one end of first connecting rod (6) by the upper bearing arranging of output shaft (15), the second active/passive hybrid drive (3) is connected with one end of second connecting rod (7) by the upper bearing arranging of output shaft (15), opposite end is connected with the sliding bearing (12) arranging on first connecting rod (6) body of rod by universal joint, third connecting rod (8), the 4th connecting rod (9), the 5th connecting rod (10), the 6th connecting rod (11) two two ends are connected to form parallel four-bar linkage structure, first connecting rod (6) free end is by rolling bearing (13) and third connecting rod (8), the 6th connecting rod (11) junction, two ends connects, third connecting rod (8) opposite end is fixedly installed the 3rd active/passive hybrid drive (4), the 3rd active/passive hybrid drive (4) is connected with the 4th connecting rod (9) one end by the upper rolling bearing (13) arranging of output shaft (15), the 6th connecting rod (11) opposite end is fixedly installed the 4th active/passive hybrid drive (5), the 4th active/passive hybrid drive (5) is connected with the 5th connecting rod (10) one end by the upper rolling bearing (13) arranging of output shaft (15), the 4th connecting rod (9), the 5th connecting rod (10) junction, two ends is connected with operating knife device (14) by rolling bearing (13),
Described the first active/passive hybrid drive (2), the second active/passive hybrid drive (3), the 3rd active/passive hybrid drive (4), the 4th active/passive hybrid drive (5) and operating knife device (14) carry out data interaction by controller and virtual operation environment.
2. the scalpel interface arrangement of realizing man-machine interaction for virtual operation training according to claim 1, is characterized in that: described operating knife device (14) comprises the power sensor (142) arranging on scalpel (141) and handle of a knife thereof.
3. the scalpel interface arrangement of realizing man-machine interaction for virtual operation training according to claim 1 and 2, it is characterized in that: described active/passive hybrid drive comprises drive motor (16), speed reduction unit (17), magnetic rheological liquid damper (18) and angular transducer (19), drive motor (16) is rotationally connected by speed reduction unit (17) and magnetic rheological liquid damper (18), magnetic rheological liquid damper (18) is provided with output shaft (15), and angular transducer (19) is positioned at drive motor (16) bottom.
4. the scalpel interface arrangement of realizing man-machine interaction for virtual operation training according to claim 1 and 2, it is characterized in that: described the first active/passive hybrid drive (2) is positioned at same vertical plane with the axis of the second active/passive hybrid drive (3) output shaft (15), and the two angle is 90 °.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320598433.2U CN203433729U (en) | 2013-09-27 | 2013-09-27 | Operating knife interface device for realizing man-machine interaction in virtual operation training |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320598433.2U CN203433729U (en) | 2013-09-27 | 2013-09-27 | Operating knife interface device for realizing man-machine interaction in virtual operation training |
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| CN203433729U true CN203433729U (en) | 2014-02-12 |
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| CN201320598433.2U Withdrawn - After Issue CN203433729U (en) | 2013-09-27 | 2013-09-27 | Operating knife interface device for realizing man-machine interaction in virtual operation training |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103473977A (en) * | 2013-09-27 | 2013-12-25 | 淮阴师范学院 | Scalpel interface device for virtual surgery training to achieve human-computer interaction |
| CN108814729A (en) * | 2018-03-30 | 2018-11-16 | 安徽工程大学 | A kind of various dimensions operation handle |
| CN109996509A (en) * | 2016-11-11 | 2019-07-09 | 直观外科手术操作公司 | Remote operation surgery systems with the instrument control based on surgeon's level of skill |
-
2013
- 2013-09-27 CN CN201320598433.2U patent/CN203433729U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103473977A (en) * | 2013-09-27 | 2013-12-25 | 淮阴师范学院 | Scalpel interface device for virtual surgery training to achieve human-computer interaction |
| CN109996509A (en) * | 2016-11-11 | 2019-07-09 | 直观外科手术操作公司 | Remote operation surgery systems with the instrument control based on surgeon's level of skill |
| CN109996509B (en) * | 2016-11-11 | 2023-04-14 | 直观外科手术操作公司 | Teleoperated surgical system with instrument control based on surgeon skill level |
| US11931122B2 (en) | 2016-11-11 | 2024-03-19 | Intuitive Surgical Operations, Inc. | Teleoperated surgical system with surgeon skill level based instrument control |
| CN108814729A (en) * | 2018-03-30 | 2018-11-16 | 安徽工程大学 | A kind of various dimensions operation handle |
| CN108814729B (en) * | 2018-03-30 | 2021-02-05 | 安徽工程大学 | Multi-dimensional operating handle |
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Granted publication date: 20140212 Effective date of abandoning: 20150415 |
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