CN209804033U - Puncture outfit for teaching and training of virtual laparoscopic surgery - Google Patents
Puncture outfit for teaching and training of virtual laparoscopic surgery Download PDFInfo
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- CN209804033U CN209804033U CN201920055346.XU CN201920055346U CN209804033U CN 209804033 U CN209804033 U CN 209804033U CN 201920055346 U CN201920055346 U CN 201920055346U CN 209804033 U CN209804033 U CN 209804033U
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Abstract
The utility model provides a virtual laparoscopic surgery puncture ware for teaching training belongs to teaching training equipment field, including the puncture ware body, this internal detection assembly that is equipped with of puncture ware, detection assembly is including the apparatus detecting element that is used for detecting the apparatus and inserts the puncture ware body, the business turn over volume detecting element who is used for real-time detection apparatus rectilinear movement distance and the space gesture detecting element who is used for the rotatory turned angle of real-time detection apparatus. The utility model discloses the volume of advancing and the space rotation angle that can real-time tracking apparatus to have fixed point numerical value correction function, when being used for virtual peritoneoscope medical teaching, through the mechanical structure and the electron device of emulation, can play discernment detection effect well, can also imitate real medical apparatus of emulation better, and can feed back the necessary operating information of user's apparatus.
Description
Technical Field
The utility model belongs to teaching training equipment field, concretely relates to virtual laparoscopic surgery puncture ware for teaching training.
Background
With the continuous improvement of medical level, laparoscopic minimally invasive surgery is increasingly favored, and the puncture outfit is widely used as a minimally invasive surgical instrument. The puncture outfit is a surgical instrument for puncturing abdominal wall and providing a passage for other surgical instruments to enter into body cavity, and has the advantages of small opening of abdominal cavity of a patient, easy healing of wound surface and the like.
at present, a clinically practical disposable laparoscope puncture outfit is adopted for training in virtual laparoscopic surgery, on one hand, the specific position of an instrument entering a cavity and the rotating angle in the cavity cannot be obtained, so that the operation or simulation of a complex operation cannot be carried out by matching with software, and the training equipment using the clinically used puncture outfit can only carry out the operations of clamping or sewing the instrument in a real object manner, so that the visual real feeling cannot be provided for an operator, and the expansibility of the training equipment is greatly limited; on the other hand, the disposable laparoscope puncture outfit is easy to damage, which causes resource waste.
SUMMERY OF THE UTILITY MODEL
To the technical background, the utility model provides a virtual laparoscopic surgery teaching training is with puncture ware can carry out space gesture output, linear displacement detection and rotation angle and detect, and repeatedly usable improves resource utilization.
In order to achieve the above purpose, the technical solution of the present invention is as follows:
The utility model provides a virtual laparoscopic surgery teaching training is with puncture ware, includes the puncture ware body, this internal detection subassembly that is equipped with of puncture ware, detection subassembly is including the apparatus detecting element that is used for detecting apparatus and inserts the puncture ware body, the business turn over volume detecting element that is used for real-time detection apparatus rectilinear movement distance and the space gesture detecting element that is used for the rotatory turned angle of real-time detection apparatus.
the detection assembly further comprises a main control board for receiving transmission signals of the instrument detection unit, the input and output amount detection unit and the space attitude detection unit, and the instrument detection unit, the input and output amount detection unit and the space attitude detection unit are respectively and electrically connected with the main control board.
In one embodiment, the instrument detection unit includes a photoelectric sensor electrically connected to the main control board.
In one embodiment, the entry and exit amount detection unit includes a laser sensor electrically connected to the main control board.
Preferably, the entry/exit amount detection unit further includes a correction unit for performing fixed-point correction on the linear movement distance of the instrument.
Preferably, the correction unit includes a magnetic sensor electrically connected to the main control board.
in one embodiment, the spatial gesture detection unit includes a gesture sensor electrically connected to the main control board.
Preferably, the attitude sensor is arranged perpendicular to the main control board.
In one embodiment, the puncture outfit body comprises a shell, a puncture rod penetrating through the shell, and a top cover connected to an end opening of the shell, and the detection assembly is arranged in the shell.
Preferably, the side wall of the housing is further provided with an outlet for leading out a power supply and a signal line of the detection assembly.
Compared with the prior art, the beneficial effects of the utility model are that:
1. The utility model provides a puncture outfit for teaching and training of virtual laparoscopic surgery, which can detect whether an instrument is connected or not, track the input and output amount and the space rotation angle of the instrument in real time and has the function of fixed point numerical correction; 2. the utility model is used in the laparoscope medical simulation teaching, can achieve good identification and detection effects through the simulated mechanical structure and the electronic device, can better simulate real medical instruments, and can feed back necessary operation information of the instruments of a user; 3. the utility model can combine with the virtual laparoscope simulation teaching system, can lead the operator to practice various laparoscope operations, and provides the operator with real visual feeling; 4. the utility model discloses repeatedly usable can improve resource utilization.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below.
FIG. 1 is a view of the appearance structure of a puncture outfit for teaching and training of virtual laparoscopic surgery in the embodiment of the present invention;
FIG. 2 is a right side view of FIG. 1;
FIG. 3 is a cross-sectional view of the puncture outfit for teaching and training of virtual laparoscopic surgery in the embodiment of the present invention;
FIG. 4 is an exploded view of the puncture outfit for teaching and training of virtual laparoscopic surgery in the embodiment of the present invention;
FIG. 5 is a circuit diagram of the puncture outfit for teaching and training of virtual laparoscopic surgery in the embodiment of the present invention;
fig. 6 is a circuit diagram of a laser sensor according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The utility model provides a virtual laparoscopic surgery teaching training is with puncture ware, includes the puncture ware body, this internal detection subassembly that is equipped with of puncture ware, detection subassembly is including the apparatus detecting element that is used for detecting apparatus and inserts the puncture ware body, the business turn over volume detecting element that is used for real-time detection apparatus rectilinear movement distance and the space gesture detecting element that is used for the rotatory turned angle of real-time detection apparatus.
In this embodiment, as shown in fig. 1 and 2, the puncture outfit body includes a housing 101, a puncture rod 102 penetrating through the housing 101, and a top cover 103 connected to an opening at a left end of the housing 101, the detection assembly is disposed in the housing 101, and a power outlet 104 for leading out a power supply and a signal line of the detection assembly is further disposed on a side wall of the housing 101.
In this embodiment, as shown in fig. 3 and 4, the detection assembly further includes a main control board 201, the main control board 201 is fixed on the top cover 103, the power supply and the signal line of the main control board 103 are led out along the outlet 104, and the length of the power supply and the signal line is moderate, so as to be conveniently connected with the laparoscope main body device. The instrument detection unit, the input and output amount detection unit and the space posture detection unit are electrically connected with the main control board 201 respectively.
wherein, the apparatus detection unit includes a photoelectric sensor 2-1, in this embodiment, the photoelectric sensor 2-1 is installed on the top cover 103 in a snap-fit manner, and is electrically connected with the main control board 201 through a wire. The photoelectric sensor 2-1 can detect whether an instrument is inserted into the puncture outfit body when in work, and the signal is defined as an instrument detection signal by the program of the main control board 201.
The in-out amount detection unit comprises a laser sensor 2-2, the laser sensor 2-2 is welded on a laser sensor control board 2-3, the laser sensor control board 2-3 is installed on the top cover 103, and the laser sensor control board is electrically connected with the main control board 201 through a wire. When the instrument is inserted, the laser sensor 2-2 can detect the linear distance of the instrument in real time, the main control board 201 analyzes the signal and uploads the signal to the upper computer, and the upper computer can simulate the in-and-out state of the virtual instrument in software in real time through a linear displacement signal.
In order to perform fixed-point correction on the linear displacement distance of the inserted instrument and eliminate the accumulated error caused by long-time use of the instrument, the in-out amount detection unit further comprises a correction unit, in the embodiment, the correction unit comprises a magnetic sensor 2-4, and the magnetic sensor 2-4 is welded on the main control board 201; when the puncture outfit is connected with the apparatus, the main control board 201 detects the position signal of the magnetic metal through the magnetic sensors 2-4 because the apparatus is provided with the fixed-point magnetic metal, thereby performing fixed-point correction on the linear displacement distance of the apparatus.
The space attitude detection unit comprises an attitude sensor 2-5, and the attitude sensor 2-5 is vertically welded with the main control board 201. In the simulated laparoscopic surgery, after the puncture outfit is connected with the instrument, the space attitude of the instrument can be solved in real time through the attitude sensors 2-5, the main control board 201 calculates the signal and uploads the signal to the upper computer, and therefore the upper computer can simulate the swinging and rotating angle of the instrument in the cavity of the device in real time.
The utility model discloses the concrete circuit diagram of puncture ware is shown in fig. 5, and laser sensor 2-2's model is ADNS-9800, and 4 pins of laser sensor 2-2 are used for SPI communication, and 2 pins are power pin, and the power supply scope is 3.3 ~ 5V, and laser sensor 2-2's detailed circuit diagram is shown in fig. 6. The main control chip of the main control board 201 is an STM32F042G 632-bit singlechip, an ARM architecture Cortex-M0 inner core is adopted, the maximum running speed can reach 48MHz, hardware SPI peripherals are included, the requirements of data reading and data transmission of the equipment to an upper computer and the like are met, and the peripheral part of the singlechip comprises initialization parts such as SPI, UART, IO, interruption and the like. The attitude sensor 2-5 is HI219M, the TPS73030 is a DCDC power supply chip, inputs 5V and outputs 3.3V, and mainly supplies power to the main control board 201. When the utility model is used for virtual laparoscope operation, the power signal wire is firstly connected with the laparoscope main body equipment, after the puncture outfit supplies power, the system is initialized, and comprises software reset, CPI setting and pin output interruption modes after each sensor is electrified, and other default settings are adopted; then, the puncture outfit body is inserted into the case through the puncture rod 102, and the user inserts an instrument such as a forceps with the puncture outfit body as an inlet and a fulcrum. After inserting an instrument such as a forceps, the puncture outfit body detects whether the instrument is inserted, and the advancing amount and the spatial rotation posture of the instrument.
It should be noted that, for those skilled in the art, without departing from the inventive concept, several variations and modifications can be made, which are within the scope of the present invention.
Claims (10)
1. The utility model provides a virtual laparoscopic surgery teaching training is with puncture ware, includes the puncture ware body, its characterized in that, this internal detection module that is equipped with of puncture ware, detection module is including the apparatus detecting element that is used for detecting the apparatus and inserts the puncture ware body, the business turn over volume detecting element that is used for real-time detection apparatus rectilinear movement distance and the space gesture detecting element that is used for the rotatory turned angle of real-time detection apparatus.
2. The puncture outfit for teaching and training of virtual laparoscopic surgery of claim 1, wherein said detection assembly further comprises a main control board for receiving the transmission signals of the instrument detection unit, the in-out amount detection unit and the spatial attitude detection unit, and said instrument detection unit, the in-out amount detection unit and the spatial attitude detection unit are electrically connected to the main control board respectively.
3. The puncture outfit for teaching and training of virtual laparoscopic surgery of claim 2, wherein said instrument detecting unit comprises a photoelectric sensor electrically connected to said main control board.
4. The puncture outfit for teaching and training of virtual laparoscopic surgery of claim 2, wherein said amount of access detection unit comprises a laser sensor electrically connected to said main control board.
5. The puncture outfit for teaching and training virtual laparoscopic surgery of claim 4, wherein said amount of entrance and exit detection unit further comprises a correction unit for correcting the straight movement distance of the instrument at a fixed point.
6. The virtual laparoscopic surgery training puncture outfit of claim 5, wherein said correction unit comprises a magnetic sensor electrically connected to a main control board.
7. The virtual laparoscopic surgery training puncture outfit of claim 2, wherein said spatial attitude detecting unit comprises an attitude sensor electrically connected to a main control board.
8. The puncture outfit for teaching and training of virtual laparoscopic surgery of claim 7, wherein said posture sensor is disposed perpendicular to said main control board.
9. The virtual laparoscopic surgery training puncture outfit of claim 1, wherein said puncture outfit body comprises a housing, a puncture rod penetrating through said housing, and a top cover connected to an opening at an end of said housing, said detection assembly is disposed in said housing.
10. The puncture outfit for teaching and training of virtual laparoscopy as claimed in claim 9, wherein the housing further comprises outlets for leading out the power and signal wires of the detection assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920055346.XU CN209804033U (en) | 2019-01-14 | 2019-01-14 | Puncture outfit for teaching and training of virtual laparoscopic surgery |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920055346.XU CN209804033U (en) | 2019-01-14 | 2019-01-14 | Puncture outfit for teaching and training of virtual laparoscopic surgery |
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| CN209804033U true CN209804033U (en) | 2019-12-17 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112289114A (en) * | 2020-11-02 | 2021-01-29 | 北京众绘虚拟现实技术研究院有限公司 | Laparoscope eyepiece for virtual simulation training |
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2019
- 2019-01-14 CN CN201920055346.XU patent/CN209804033U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112289114A (en) * | 2020-11-02 | 2021-01-29 | 北京众绘虚拟现实技术研究院有限公司 | Laparoscope eyepiece for virtual simulation training |
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