CN204791738U - Minimal access surgery simulator based on magnetic damper - Google Patents
Minimal access surgery simulator based on magnetic damper Download PDFInfo
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- CN204791738U CN204791738U CN201520456167.9U CN201520456167U CN204791738U CN 204791738 U CN204791738 U CN 204791738U CN 201520456167 U CN201520456167 U CN 201520456167U CN 204791738 U CN204791738 U CN 204791738U
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- magnetic damper
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- cylindrical magnet
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Abstract
The utility model discloses a minimal access surgery simulator based on magnetic damper, characterized by: the setting is with the rotatory perpendicular shafting of two dimension of the body frame board of pitch axis and course major structure one -tenth, set up the probe rod seat on the body frame board, the probe rod that is arranged in the probe rod seat can be at axial displacement to through the meshing of rack and gear, and turning to of bevel gear realize the transmission with probe rod axial force feedback system, sets up magnetic damper among the probe rod axial force feedback system, connects the operation clamp at the rear of probe rod. The utility model is used for the true damping effect of organs such as surgical instruments such as emulation clamp touching liver, kidney helps the doctor to carry out the minimal access surgery simulated training effectively.
Description
Technical field
The utility model relates to minimal invasive surgery simulated training device, is more particularly a kind of Minimally-invasive surgery simulator, for carrying out simulated training to Minimally Invasive Surgery.
Background technology:
Minimally Invasive Surgery is little with wound, pain is light, hemorrhage less, recover fast distinguishing feature, with the theory of the misery of the patient that at utmost shows a patient every consideration, alleviates more and more by people are paid attention to.Along with the raising of the endoscopes such as laparoscope, thoracoscope, hysteroscope and various operation tool manufacturing accuracy, take computing machine as visual pattern process and the real time monitoring development of core, Minimally Invasive Surgery technology is increasingly mature, and compare traditional surgery has and apply more widely in general outer, uropoiesis, orthopaedics, face, gynaecology etc.
Compare traditional operation, Minimally Invasive Surgery requires very high to the medical technologies of doctor, and the technical ability effectively improving Minimally Invasive Surgery doctor (especially beginner) is fast very crucial.Minimally invasive surgery training has two kinds of patterns, and one directly to be performed an operation experiment at corpse, animal, manikin; The another kind of Minimally Invasive Surgery simulation training system guided based on computer vision.At corpse resource-expensive and rare, injury animal, in the situation such as manikin realism is inadequate, operating theater instruments is expensive, the how considered use of Surgery Simulation training system.The Surgery Simulation training system of commercialization is in the market little, the model machine developed of only a few on operation three-dimensional picture more true to nature lively, sensor data acquisition real-time Communication for Power, computer vision are first-class does very outstanding, but on gordian technique point, namely force feedback is true not, and force feedback effect and the truth difference of the damping modes such as its motor, wire and spring are too large.
Utility model content
The utility model is the weak point for avoiding existing for above-mentioned prior art, a kind of Minimally-invasive surgery simulator based on magnetic damper is provided, to improving flexible damping, super high-emulation touching human body force feedback effect, for micro-wound surgical operation training brings the effect of getting twice the result with half the effort, high surgical feel and the technical ability of participating in training of accurate Quick.
The utility model is that technical solution problem adopts following technical scheme:
The utility model based on the design feature of the Minimally-invasive surgery simulator of magnetic damper is:
Be support to arrange course axle in Z-direction with base, described course axle is equipped with " U " shape seat, and described " U " shape seat can be deviated from voyage route to axle rotation on the axle of described course in surface level, described Z-direction is vertical direction;
With described " U " shape seat for support in X to arranging pitch axis, described pitch axis is equipped with main frame plate, and described main frame plate can on described pitch axis in perpendicular around pitch axes; The Two Dimensional Rotating vertical shaft series of main frame plate is formed with described pitch axis and described course axle;
With described main frame plate for support be fixedly installed feeler lever seat, in described feeler lever seat in X to arranging rotating gear shaft, described gear shaft is fixedly installed transmission gear; The feeler lever being arranged in feeler lever seat realizes engaged transmission by tooth bar and described transmission gear, is fixedly installed the first bevel gear at the axle head of described gear shaft; The move axially through drive gears movable gear shaft of described feeler lever in feeler lever seat rotates; Described feeler lever runs through described feeler lever seat in front end and tail end, and with the front end of described feeler lever for feeler lever head, connects surgical clamp at the rear of described feeler lever;
Arrange feeler lever axial force feedback system, be utilize damper bracing frame to arrange the first magnetic damper in the side of described main frame plate, described first magnetic damper has relatively turnable cylindrical shell and axis, and non-magnetic conductor is formed in relative rotation between cylindrical shell and axis; Magnetic damping output shaft is coaxial with the axis of described first reluctance force device, and the axis of described first magnetic damper can rely on magnetic force to drive barrel body rotation; Drum shaft is connected firmly in the bottom of described cylindrical shell; Arrange the electromagnetic brake be made up of electromagnetic brake disc and brake flange base, described brake flange base is fixedly connected with main frame plate, and described electromagnetic brake disc is fixedly connected with drum shaft; Be fixedly installed the second bevel gear at the axle head of reluctance force output shaft, between described second bevel gear and described first bevel gear, carry out engaged transmission.
The utility model is also based on the design feature of the Minimally-invasive surgery simulator of magnetic damper: between described main frame plate and pitch axis, arrange the second magnetic damper, between described pitch axis and " U " shape seat, pitch axis electromagnetic brake is installed, for braking between pitch axis and " U " shape seat.
The utility model is also based on the design feature of the Minimally-invasive surgery simulator of magnetic damper: between described " U " shape seat and course axle, arrange the 3rd magnetic damper, course axle electromagnetic brake is set between described course axle and base, for braking between course axle and base.
The utility model is also based on the design feature of the Minimally-invasive surgery simulator of magnetic damper: arrange each grating encoder and read head respectively, for obtaining the angular displacement of course axle and pitch axis, and the axial displacement of feeler lever.
The utility model is also based on the design feature of the Minimally-invasive surgery simulator of magnetic damper: arrange " V " shape zero adjustment block, described zero adjustment block is fixed on the bottom of a sidewall of main support plate with its side, opposite side is set to " V " type end side at bottom end face, " V " type groove that corresponding setting matches in support platform, coordinate with " V " type end side of described zero adjustment block and described " V " type groove the rotary stopper and back to zero that realize course axle and pitch axis, described support platform is the level table be supported on base.
The utility model is also based on the design feature of the Minimally-invasive surgery simulator of magnetic damper: described first magnetic damper, the second magnetic damper and the 3rd magnetic damper adopt the bidirectional rotary dampers based on cylindrical magnet pair, its version is: the sintered NdFeB cylindrical magnet arranging a pair radial magnetizing is secondary, and what form described magnet pair is the first cylindrical magnet and the second cylindrical magnet respectively; Described first cylindrical magnet is fixedly inlaid in axis, and it is on the circumferential position of R that the second cylindrical magnet is fixedly installed on radius in cylindrical shell, and described axis is on the location mid-shaft of cylindrical shell, axis and cylindrical shell coaxial, and can to relatively rotate; The magnetic line of force of described first cylindrical magnet and the second cylindrical magnet is along axis in the radial direction.
The utility model is also based on the design feature of the Minimally-invasive surgery simulator of magnetic damper: make the radius of the first cylindrical magnet be R1, the radius of the second cylindrical magnet is R2, setting: R is greater than R1+R2, makes to be formed with interval between described first cylindrical magnet and the second cylindrical magnet.
In the present embodiment, Minimally-invasive surgery simulator can realize the motion of the utensil such as surgical clamp, scalpel three dimensions six-freedom degree in human body, and has super high-emulation touching human body force feedback effect.Compared with the prior art, the utility model beneficial effect is embodied in:
1, the utility model adopts magnetic damper as force feedback device, to compare the combination of dampings of traditional motor, wire and spring, it is simply compact, installing space is little, the wearing and tearing of contactless flexible magnetic damping noiselessness, just reverse damping back to zero precision is high, can the flexible force feedback feel of superelevation Reality simulation surgical instrument touching human organ realistically.
2, the utility model adopts modular design, interchangeability strong, easy to maintenance, and feeler lever can be replaced by the subject utensil such as general outer, uropoiesis, orthopaedics, face, gynaecology easily, makes this Minimally-invasive surgery simulator adapt to the operative training of multidisciplinary.
3, the utility model is without the need to the exercise of the entity such as human body and animal, can improve the medical technologies level of the doctor that undergoes training accurately and efficiently at corpse resource-expensive under rare, the objective unfavorable factor such as injury animal, manikin realism is inadequate.
4, the utility model volume is little, with low cost, multiple functional, can be easily installed on chassis, portable convenient; Overlap the utility model Minimally Invasive Surgery analogue means in the right layout two of a first from left, become a perfect comprehensive Minimally Invasive Surgery training system in conjunction with endoscope guiding easily extensible.
Accompanying drawing explanation
Fig. 1 is the utility model three-dimensional structure schematic diagram;
Fig. 2 is the utility model Automatic manual transmission schematic diagram;
Fig. 3 is feeler lever force feedback part-structure schematic diagram in the utility model;
Fig. 4 a is magnetic damper structural representation in the utility model;
Fig. 4 b is magnetic damper principle schematic in the utility model;
Number in the figure: 1 first cylindrical magnet, 2 second cylindrical magnets, 3 cylindrical shells, 4 holding screws, 5 end caps, 6 deep groove ball bearings, 7 axis, 8 zero adjustment blocks, 8a is " V " type end side, 8b is " V " type groove, 1-1 base, 1-2 course axle electromagnetic brake, 1-3 is " U " shape seat, 1-4 the 3rd magnetic damper, 1-5 course axle, 1-6 the 3rd grating encoder and read head, 1-7 pitch axis electromagnetic brake, 1-8 pitch axis, 1-9 second grating encoder and read head, 1-10 main frame plate, 1-11 second magnetic damper, 2-1 brake flange base, 2-2 electromagnetic brake disc, 2-3 damper bracing frame, 2-4 first magnetic damper, 2-5 magnetic damping output shaft, 2-6 first grating encoder and read head, 2-7 second bevel gear, 3-1 feeler lever seat, 3-2 transmission gear, 3-3 feeler lever, 3-4 first bevel gear, 3-5 surgical clamp, 3-6 potentiometer.
Embodiment
See Fig. 1, Fig. 2 and Fig. 3, the version of the Minimally-invasive surgery simulator based on magnetic damper in the present embodiment is:
Arrange course axle 1-5 for supporting in Z-direction with base 1-1, course axle 1-5 is equipped with " U " shape seat 1-3, and " U " shape seat 1-3 can deviate from voyage route to axle 1-5 and rotates on the axle 1-5 of course in surface level, Z-direction is vertical direction.
With " U " shape seat 1-3 for support in X to arranging pitch axis 1-8, pitch axis 1-8 is equipped with main frame plate 1-10, and main frame plate 1-10 can rotate around pitch axis 1-8 in perpendicular on pitch axis 1-8; The Two Dimensional Rotating vertical shaft series of main frame plate 1-10 is formed with pitch axis 1-8 and course axle 1-5.
With main frame plate 1-10 for support be fixedly installed feeler lever seat 3-1, in feeler lever seat 3-1 in X to arranging rotating gear shaft, gear shaft is fixedly installed transmission gear 3-2; The feeler lever 3-3 being arranged in feeler lever seat 3-1 realizes engaged transmission by tooth bar and transmission gear 3-2, is fixedly installed the first bevel gear 3-4 at the axle head of gear shaft; The move axially through transmission gear 3-2-driven gear axle of feeler lever 3-3 in feeler lever seat 3-1 rotates; Feeler lever 3-3 runs through feeler lever seat 3-1 in front end and tail end, and with the front end of feeler lever 3-3 for feeler lever head, connects surgical clamp 3-5 at the rear of feeler lever 3-3.
In concrete enforcement, arrange potentiometer 3-6 between surgical clamp 3-5 and feeler lever 3-3, the output shaft of potentiometer 3-6 is screwed with the tail end of feeler lever 3-3 and is connected, and both guarantees are without relatively rotating; The shell of potentiometer 3-6 is fixedly connected with the output shaft of surgical clamp 3-5, rotates relative to feeler lever 3-3 with the shell of the rotating band electrokinetic potential device 3-6 of surgical clamp 3-5, can simulated implementation surgical clamp rotate and the real-time measurement of the anglec of rotation around own axes.Meanwhile, potentiometer is set in the jaw of surgical clamp 3-5, for detecting the opening angle of surgical clamp 3-5, the continuous action between the opening and closing of sham operated clamp, the organ actions such as simulation clamp clamping gall-bladder.
In the present embodiment, engaged transmission is realized by tooth bar and transmission gear 3-2 with feeler lever 3-3, while the axial displacement meeting feeler lever 3-3, by the engagement of cylinder rack-pinion, the rectilinear motion of feeler lever can also be become circumference of gear motion, the axial displacement measurement and the axial damping that significantly solve the 190mm stroke feeler lever when installing space is limited are difficult to the direct difficult problem implemented.Meanwhile, at the axle head of gear shaft, the first bevel gear 3-4 is set for connection damper axle system, adopts the transmission that turns to of 90 ° greatly to save the volume of single unit system, make structure compacter.This version makes hand-held surgical clamp swing in three dimensions rotation, the up and down pitching of the true operating theater instruments of simulated implementation can rotate, move axially around own axes revolution, front and back and the motion such as opening and closing of surgical clamp.
In the present embodiment, feeler lever axial force feedback system is set, be utilize damper bracing frame 2-3 to arrange the first magnetic damper 2-4 in the side of main frame plate 1-10, the first magnetic damper 2-4 has relatively turnable cylindrical shell and axis, and non-magnetic conductor is formed in relative rotation between cylindrical shell and axis; Magnetic damping output shaft 2-5 is coaxial with the axis of the first reluctance force device 2-4, and the axis of the first magnetic damper 2-4 can rely on magnetic force to drive barrel body rotation; Drum shaft is connected firmly in the bottom of cylindrical shell; Arrange the electromagnetic brake be made up of electromagnetic brake disc 2-2 and brake flange base 2-1, brake flange base 2-1 is fixedly connected with main frame plate 1-10, and electromagnetic brake disc 2-2 is fixedly connected with drum shaft; Be fixedly installed the second bevel gear 2-7 at the axle head of reluctance force output shaft 2-5, between the second bevel gear 2-7 and the first bevel gear 3-4, carry out engaged transmission.Magnetic damping output shaft 2-5 be fixed tightly in electromagnetic brake disc 2-2 together with, once electromagnetic brake disc 2-2 is pinned by electromagnetic brake base 2-1, now magnetic damping output shaft 2-5 damping due to rotation produce, and along with the anglec of rotation larger, damping is larger.In the present embodiment, pitch axis 1-8 two axial ends be match with axis hole between the biside plate of " U " type seat 1-3, when carrying out the installation of pitch axis, the gap maintaining 0.02mm between electromagnetic brake disc 2-2 and brake flange base 2-1 should be made.
Feeler lever axial force feedback system action principle is: surgical clamp 3-5 rotarily drives the common undamped of the first magnetic damper 2-4 and rotates, and simulates the operating state before clamp does not touch organ with this, operating state feeler lever front end being encountered to organ is simulated with electromagnetic brake energising, when electromagnetic brake is energized, the drum shaft of the first magnetic damper 2-4 is by electromagnetic brake locking, due to the effect of magnetic damping, help the feel of surgical clamp as encountered real organ, along with the deep touching of feeler lever and the anglec of rotation larger, damping force is also slowly flexible to be increased, when surgical clamp drives feeler lever to regain, damping also slowly diminishes, there is the flexible resilience effect of real soft tissue, this resilience effect by the transmitting and converting of bevel-gear sett pair be feeler lever move axially damping, when tissues such as clamping one piece of tumour with surgical clamp pulls out, now oppositely damping comes into effect.Mounting torque sensor on reluctance force output shaft 2-5, can detect the size obtaining damping force, and this is very helpful for the surgical skills of cultivating doctor.
In concrete enforcement, the second magnetic damper 1-11 is set between main frame plate 1-10 and pitch axis 1-8, between pitch axis 1-8 and " U " shape seat 1-3, pitch axis electromagnetic brake 1-7 is installed, for braking between pitch axis 1-8 and " U " shape seat 1-3.
3rd magnetic damper 1-4 is set between " U " shape seat 1-3 and course axle 1-5, course axle electromagnetic brake 1-2 is set between course axle 1-5 and base 1-1, for braking between course axle 1-5 and base 1-1.
Three groups of flexible damping feedbacks are formed altogether in the present embodiment, namely feeler lever pitching up and down, the damping due to rotation swung and move axially damping, can realize operation clamping force FEEDBACK CONTROL by software emulation human intracavity interface, whether the apparatuses such as catch clip touch human organ, thus trigger corresponding electromagnetic brake and make each damper produce real contact human body force feedback effect.
In concrete enforcement, each contactless grating code-disc and read head are set respectively on each correspondence position, comprise the 3rd grating encoder and the read head 1-6 of the angular displacement for obtaining course axle 1-5 between the axle head being arranged on course axle as shown in Figure 2 and main frame plate, for obtaining the second grating encoder and the read head 1-9 of the angular displacement of pitch axis 1-8, and for the first grating encoder of the axial displacement that obtains feeler lever 3-3 and read head 2-6; Adopt contactless grating code-disc and read head to realize unlimited angle of circumference to measure, its cost is low, structure is simple, volume is little, be easy to installation, signal not by the interference such as temperature and magnetic field.
In concrete enforcement, the motor message related to comprises: the angular displacement of course axle 1-5 and pitch axis 1-8, for the angle of rotation displacement of the feeler lever of sham operated cutter and axial displacement, and the folding angle of surgical clamp.Wherein, the angular displacement of course axle and pitch axis, and the axial displacement of feeler lever is obtained respectively by the non-contact type high-precision grating encoder on each correspondence position and read head, the axial displacement of feeler lever utilizes rack geared structure to change straight line into circular motion to measure, and the angle of rotation displacement of feeler lever and the folding angle of surgical clamp are obtained by potentiometer; Each road signal can calculate the current three-dimensional coordinate of surgical clamp in simulated operation interface and the folding horn shape state of surgical clamp by space coordinate conversion, and intuitively in real time surgical clamp to be presented on simulated operation interface, the screen-vision guided based on endoscope can instruct the operation sight of doctor's simulating realistic freely.
Shown in Fig. 1, arrange " V " shape zero adjustment block 8 in the present embodiment, zero adjustment block 8 is fixed on the bottom of a sidewall of main support plate 1-10 with its side, opposite side is set to " V " type end side 8a in 90 ° at bottom end face, " V " type groove 8b that corresponding setting matches in support platform, the rotary stopper and back to zero that realize course axle and pitch axis is coordinated with " V " type end side 8a of zero adjustment block 8 and " V " type groove 8b, support platform is supported on the level table on base 1-1, initial zero calibration device using zero adjustment block 8 as course axle 1-5 and pitch axis 1-8, can realize rapidly, the device zero of high position precision, in concrete enforcement, " V " type end side and " V " type groove also correspondence can be set to inverted trapezoidal end face and inverted trapezoidal groove, and its trapezoidal both sides are mutually in 90 degree.
See Fig. 4 a and Fig. 4 b, in the present embodiment, the first magnetic damper 2-4, the second magnetic damper 1-11 and the 3rd magnetic damper 1-4 adopt the bidirectional rotary dampers based on cylindrical magnet pair, its version is: the sintered NdFeB cylindrical magnet arranging a pair radial magnetizing is secondary, and what form magnet pair is the first cylindrical magnet 1 and the second cylindrical magnet 2 respectively; First cylindrical magnet 1 is fixedly inlaid in axis 7, axis 7 utilizes deep groove ball bearing 6 and end cap 5 to be bearing on the axial centerline of cylindrical shell 3, it is on the circumferential position of R that second cylindrical magnet 2 is fixedly installed on radius in cylindrical shell 3, specifically axially extending bore is set on the correspondence position of cylindrical shell 3, second cylindrical magnet 2 is inlaid in axially extending bore, and fastening with holding screw 4, ensure that the magnetic line of force passes through the center of circle; Axis 7 is on the location mid-shaft of cylindrical shell 3, and axis 7 is coaxial with cylindrical shell 3, and can relatively rotate; The magnetic line of force of the first cylindrical magnet 1 and the second cylindrical magnet 2 is along axis 7 in the radial direction.
Make the radius of the first cylindrical magnet 1 be R1, the radius of the second cylindrical magnet 2 is R2, setting: R is greater than R1+R2, makes to be formed with interval between the first cylindrical magnet 1 and the second cylindrical magnet 2, and this version makes noncontact between two cylindrical magnets, without wearing and tearing; And the magnetic force between two magnet pairs is converted into the damping due to rotation power between axis and cylindrical shell, makes the output of damping force and use become possibility.
Arranging axis 7 is take brass as material, and cylindrical shell 3 take duralumin as material.
Cylindrical shell 3 arranging axially extending bore for fixedly mounting the second cylindrical magnet 2, changing the size of radius R and/or getting the value of different radius Rs 2, the size of the damping force that damper exports can be adjusted.
Damper is set and can has the control model that the following two kinds is different:
Pattern one: cylindrical shell damping exports
Fixing axis 7, the central angle position at definition axis 7 place is reference position P, at reference position place, the first cylindrical magnet 1 with the magnetic line of force place of the second cylindrical magnet 2 on the same line, and magnetic line of force direction is contrary, export as minimum damping force in the cylindrical shell damping of P place, reference position;
Keep the magnetic line of force direction of the first cylindrical magnet 1 constant, cylindrical shell 3 is driven to rotate, second cylindrical magnet 2 is with cylindrical shell 3 synchronous axial system, the central angle turned over along with cylindrical shell 3 is larger, and be not more than 90 °, the damping force that cylindrical shell damping exports is larger, when the central angle that cylindrical shell 3 turns over is 90 °, cylindrical shell damping exports as maximum damping force, M point position is that cylindrical shell turns over 90 ° counterclockwise as shown in fig 4b, M point position is the maximum damping force point of cylindrical shell when rotating counterclockwise, N point position is that cylindrical shell turns over 90 ° clockwise, N point position is the maximum damping force point of cylindrical shell when rotating clockwise.
Corresponding to cylindrical shell 3 relative to axis 7 rotation in the clockwise direction and in the counterclockwise direction, forward damping force is symmetrical about reference position.
Pattern two: axis damping exports
Fixed cylinder 3, the central angle position at definition cylindrical shell 3 place is reference position P, at P place, reference position, the first cylindrical magnet 1 with the magnetic line of force place of the second cylindrical magnet 2 on the same line, and magnetic line of force direction is contrary, export as minimum damping force in the axis damping of P place, reference position;
Keep the magnetic line of force direction of the second cylindrical magnet 2 constant, axis 7 is driven to rotate, first cylindrical magnet 1 is with axis 7 synchronous axial system, the central angle turned over along with axis 7 is larger, and be not more than 90 °, the damping force that axis damping exports is larger, when the central angle that axis 7 turns over is 90 °, axis damping exports as maximum damping force, as shown in fig 4b, cylindrical shell is fixed, axis rotation, M point position is that axis turns over 90 ° counterclockwise, M point position is the maximum damping force point of axis when rotating counterclockwise, N point position is that axis turns over 90 ° clockwise, N point position is the maximum damping force point of axis when rotating clockwise.
Corresponding to axis 7 relative to cylindrical shell 3 rotation in the clockwise direction and in the counterclockwise direction, forward damping force is symmetrical about reference position.
Also can arrange damper is gear unit, and the first cylindrical magnet 1 in gear unit and the second cylindrical magnet 2 are free state, and the mode of operation arranging gear unit is: drive cylindrical shell 3 to rotate with the axis 7 rotated, or drives axis 7 to rotate with cylindrical shell 3.
In the present embodiment, the first damper adopts mode of operation two, second damper of axis damping output and the 3rd damper to be the mode of operations one adopting cylindrical shell damping to export.
In the present embodiment, magnetic damper has following technique effect:
1, damping force is stablized, and its damper temperature applicable range reaches-40 DEG C ~ 180 DEG C, and it meets the requirement of medical science environment for use completely, and in its environment for use, permanent magnet damping force remains unchanged, and the fatigue as the damping device such as spring, wire rope can not occur; Also such as viscous oil, silicon oil damper change the damping force the caused problem such as inconstant with ambient temperature change oil viscosity can not be there is;
2, torque is stablized: permanent magnetism has stable moment of torsion, static constant with moment of torsion when rotating.Therefore, from minimum speed to maximum speed, moment of torsion is constant all the time.Do not affect by time, temperature, speed or other system and change;
3, because of the effect by cylindrical magnet secondary field power, damper has the zero reference of high position precision, is in zero-bit state when damper does not work all the time; During damper work, depart from the damping that zero-bit has clockwise and counterclockwise both direction, two is symmetrical about zero-bit to damping, and damping force increases with the increase of deviation angle, and especially needing flexible force to feed back occasion in medical surgery simulated training has very exigence.
Claims (7)
1., based on the Minimally-invasive surgery simulator of magnetic damper, it is characterized in that:
For supporting, course axle (1-5) is set with base (1-1) in Z-direction, described course axle (1-5) is equipped with " U " shape seat (1-3), and described " U " shape seat (1-3) can deviate from voyage route to axle (1-5) and rotate on described course axle (1-5) in surface level, and described Z-direction is vertical direction;
With described " U " shape seat (1-3) for supporting in X to arranging pitch axis (1-8), described pitch axis (1-8) is equipped with main frame plate (1-10), and described main frame plate (1-10) can be rotated around pitch axis (1-8) in perpendicular on described pitch axis (1-8); The Two Dimensional Rotating vertical shaft series of main frame plate (1-10) is formed with described pitch axis (1-8) and described course axle (1-5);
With described main frame plate (1-10) for support is fixedly installed feeler lever seat (3-1), in described feeler lever seat (3-1) in X to arranging rotating gear shaft, described gear shaft is fixedly installed transmission gear (3-2); The feeler lever (3-3) being arranged in feeler lever seat (3-1) realizes engaged transmission by tooth bar and described transmission gear (3-2), is fixedly installed the first bevel gear (3-4) at the axle head of described gear shaft; Move axially through transmission gear (3-2) the driven gear axle of described feeler lever (3-3) in feeler lever seat (3-1) rotates; Described feeler lever (3-3) runs through described feeler lever seat (3-1) in front end and tail end, and be feeler lever head with the front end of described feeler lever (3-3), connect surgical clamp (3-5) at the rear of described feeler lever (3-3);
Feeler lever axial force feedback system is set, utilize damper bracing frame (2-3) that the first magnetic damper (2-4) is set in the side of described main frame plate (1-10), described first magnetic damper (2-4) has relatively turnable cylindrical shell and axis, and non-magnetic conductor is formed in relative rotation between cylindrical shell and axis; Magnetic damping output shaft (2-5) is coaxial with the axis of described first reluctance force device (2-4), and the axis of described first magnetic damper (2-4) can rely on magnetic force to drive barrel body rotation; Drum shaft is connected firmly in the bottom of described cylindrical shell; The electromagnetic brake be made up of electromagnetic brake disc (2-2) and brake flange base (2-1) is set, described brake flange base (2-1) is fixedly connected with main frame plate (1-10), and described electromagnetic brake disc (2-2) is fixedly connected with drum shaft; Be fixedly installed the second bevel gear (2-7) at the axle head of reluctance force output shaft (2-5), between described second bevel gear (2-7) and described first bevel gear (3-4), carry out engaged transmission.
2. the Minimally-invasive surgery simulator based on magnetic damper according to claim 1, it is characterized in that: the second magnetic damper (1-11) is set between described main frame plate (1-10) and pitch axis (1-8), pitch axis electromagnetic brake (1-7) is installed between described pitch axis (1-8) and " U " shape seat (1-3), for braking between pitch axis (1-8) and " U " shape seat (1-3).
3. the Minimally-invasive surgery simulator based on magnetic damper according to claim 1, it is characterized in that: the 3rd magnetic damper (1-4) is set between described " U " shape seat and course axle (1-5), course axle electromagnetic brake (1-2) is set between described course axle (1-5) and base (1-1), for braking between course axle (1-5) and base (1-1).
4. the Minimally-invasive surgery simulator based on magnetic damper according to claim 1, it is characterized in that: each grating encoder and read head are set respectively, for obtaining the angular displacement of course axle (1-5) and pitch axis (1-8), and the axial displacement of feeler lever (3-3).
5. the Minimally-invasive surgery simulator based on magnetic damper according to claim 1, it is characterized in that: arrange " V " shape zero adjustment block (8), described zero adjustment block (8) is fixed on the bottom of a sidewall of main support plate (1-10) with its side, opposite side is set to " V " type end side (8a) at bottom end face, " V " type groove (8b) that corresponding setting matches in support platform, the rotary stopper and back to zero that realize course axle and pitch axis is coordinated with " V " type end side (8a) of described zero adjustment block (8) and described " V " type groove (8b), described support platform is supported on the level table on base (1-1).
6. the Minimally-invasive surgery simulator based on magnetic damper according to claim 1, it is characterized in that: described first magnetic damper (2-4), the second magnetic damper (1-11) and the 3rd magnetic damper (1-4) adopt the bidirectional rotary dampers based on cylindrical magnet pair, its version is: the sintered NdFeB cylindrical magnet arranging a pair radial magnetizing is secondary, and what form described magnet pair is the first cylindrical magnet (1) and the second cylindrical magnet (2) respectively; Described first cylindrical magnet (1) is fixedly inlaid in axis (7), it is on the circumferential position of R that second cylindrical magnet (2) is fixedly installed on radius in cylindrical shell (3), described axis (7) is on the location mid-shaft of cylindrical shell (3), axis (7) is coaxial with cylindrical shell (3), and can relatively rotate; The magnetic line of force of described first cylindrical magnet (1) and the second cylindrical magnet (2) is along axis (7) in the radial direction.
7. the Minimally-invasive surgery simulator based on magnetic damper according to claim 6, it is characterized in that: make the radius of the first cylindrical magnet (1) be R1, the radius of the second cylindrical magnet (2) is R2, setting: R is greater than R1+R2, makes to be formed with interval between described first cylindrical magnet (1) and the second cylindrical magnet (2).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520456167.9U CN204791738U (en) | 2015-06-26 | 2015-06-26 | Minimal access surgery simulator based on magnetic damper |
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| CN201520456167.9U CN204791738U (en) | 2015-06-26 | 2015-06-26 | Minimal access surgery simulator based on magnetic damper |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520456167.9U Withdrawn - After Issue CN204791738U (en) | 2015-06-26 | 2015-06-26 | Minimal access surgery simulator based on magnetic damper |
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| Country | Link |
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| CN (1) | CN204791738U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104900124A (en) * | 2015-06-26 | 2015-09-09 | 中国科学院合肥物质科学研究院 | Minimally invasive operation simulation apparatus based on magnetic dampers |
| CN107970069A (en) * | 2017-12-27 | 2018-05-01 | 廖容 | A kind of multiple degrees of freedom remote operation handle for operating robot |
| CN107981930A (en) * | 2017-12-27 | 2018-05-04 | 廖容 | A kind of surgical operation robot hand instructs sensing device |
| CN107997823A (en) * | 2017-12-27 | 2018-05-08 | 廖容 | A kind of surgical operation robot operating side Force sensor |
| CN108042205A (en) * | 2017-12-27 | 2018-05-18 | 廖容 | A kind of surgical operation robot swings instruction sensing device |
| CN113729965A (en) * | 2021-08-31 | 2021-12-03 | 深圳市爱博医疗机器人有限公司 | Main end control device of interventional operation robot |
-
2015
- 2015-06-26 CN CN201520456167.9U patent/CN204791738U/en not_active Withdrawn - After Issue
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104900124A (en) * | 2015-06-26 | 2015-09-09 | 中国科学院合肥物质科学研究院 | Minimally invasive operation simulation apparatus based on magnetic dampers |
| CN104900124B (en) * | 2015-06-26 | 2017-05-03 | 中国科学院合肥物质科学研究院 | Minimally invasive operation simulation apparatus based on magnetic dampers |
| CN107970069A (en) * | 2017-12-27 | 2018-05-01 | 廖容 | A kind of multiple degrees of freedom remote operation handle for operating robot |
| CN107981930A (en) * | 2017-12-27 | 2018-05-04 | 廖容 | A kind of surgical operation robot hand instructs sensing device |
| CN107997823A (en) * | 2017-12-27 | 2018-05-08 | 廖容 | A kind of surgical operation robot operating side Force sensor |
| CN108042205A (en) * | 2017-12-27 | 2018-05-18 | 廖容 | A kind of surgical operation robot swings instruction sensing device |
| CN107970069B (en) * | 2017-12-27 | 2019-10-18 | 曹学成 | A kind of multiple degrees of freedom remote operation handle for operating robot |
| CN113729965A (en) * | 2021-08-31 | 2021-12-03 | 深圳市爱博医疗机器人有限公司 | Main end control device of interventional operation robot |
| CN113729965B (en) * | 2021-08-31 | 2023-06-16 | 深圳市爱博医疗机器人有限公司 | Main end control device of interventional operation robot |
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Granted publication date: 20151118 Effective date of abandoning: 20170503 |