CN213935257U - Catheter manipulation active guiding mechanism and device for interventional operation training system - Google Patents
Catheter manipulation active guiding mechanism and device for interventional operation training system Download PDFInfo
- Publication number
- CN213935257U CN213935257U CN202023230393.5U CN202023230393U CN213935257U CN 213935257 U CN213935257 U CN 213935257U CN 202023230393 U CN202023230393 U CN 202023230393U CN 213935257 U CN213935257 U CN 213935257U
- Authority
- CN
- China
- Prior art keywords
- guide
- operating rod
- catheter
- information module
- training system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Instructional Devices (AREA)
Abstract
The utility model provides a catheter control active guiding mechanism and a device used in an interventional operation training system, wherein the mechanism is connected with a state information module storing interventional operation information, the catheter control active guiding mechanism is connected with a guiding piece, and the catheter control active guiding mechanism executes the instruction of the state information module to drive the guiding piece to move in two degrees of freedom; the device comprises the mechanism, a force tactile feedback mechanism connected with a state information module and a control lever which can be simultaneously held and pinched by fingers with a guide piece, wherein the control lever has two degrees of freedom of moving along the self axial direction and rotating around the self axis; the force touch feedback mechanism drives the operating lever to move in two degrees of freedom according to the action of the fingers of the doctor and the state information module information; according to the state of the control rod in the state information module, the catheter is started to control the active guiding mechanism and/or the force tactile feedback mechanism; the utility model discloses a pipe is controlled initiative guiding mechanism and equipment and is more favorable to the operation simulation training to the doctor.
Description
Technical Field
The utility model relates to a surgery simulation system field particularly, relates to a pipe that is arranged in intervene surgery training system controls initiative guiding mechanism and equipment.
Background
The blood vessel intervention technology has the characteristics of small wound, simple and convenient operation, accurate intervention position and the like, so that some patients who cannot tolerate major operations and drug resistance can be effectively treated in time, but the blood vessel intervention operation has higher risk, and an operator needs to have extremely high proficiency and operation experience.
For example, chinese patent No. CN211044621U discloses a manual operation device based on a blood vessel interventional operation training system, which utilizes the mature operation experience and specification stored in a state information module to control the movement of a joystick in the operation device in two degrees of freedom, i.e., forward and backward movement in the axial direction and clockwise/counterclockwise rotation around the axial direction, so as to simulate the catheter movement process in an operation, and when a doctor uses the device to perform interventional operation simulation training, the joystick can be operated in the two degrees of freedom; for the proper operation of a doctor, the device drives the operating rod to perform action response along the operation direction of the doctor; when the state information module judges that the catheter has resistance in the interventional operation and needs to guide the operation, the state information module can calculate the force applied to the operating rod by the doctor and the resultant force of the resistance, and then the resultant force is used for making an action response by the driving device, so that force-based tactile feedback is generated for the doctor who operates, the doctor can obtain information of irregular operation, and the aim of training the vascular interventional operation is fulfilled.
The operating device disclosed in the above patent enables simulated response and tactile feedback of the operation action of the surgeon, however, it does not relate to how to actively guide the surgeon to perform the interventional surgery simulation operation.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome the problem that the background art mentioned, provide one kind can intervene the operation to doctor's simulation and carry out suggestion, correction and the initiative guide control the initiative guide the mechanism and have the equipment of this mechanism.
The embodiment of the utility model discloses a realize through following technical scheme:
the catheter control active guide mechanism is used in an interventional operation training system and is connected with a state information module for storing interventional operation information; the catheter manipulation active guiding mechanism is connected with a guiding piece and is configured to execute the instruction of the state information module to drive the guiding piece to move in two degrees of freedom.
Further, the catheter manipulation active guiding mechanism comprises a linear motion mechanism and a rotating mechanism arranged on the linear motion mechanism, the guiding piece is arranged on the rotating mechanism, and the rotating mechanism is used for driving the guiding piece to rotate around the axis of the guiding piece;
the guide has a first degree of freedom for movement in the direction of motion of the linear motion mechanism and a second degree of freedom for rotation about the axis of the guide.
Further, the linear motion mechanism comprises a screw pair with a first screw rod and a first sliding block, the screw pair drives the first sliding block to move along the axial direction of the first screw rod, and the rotating mechanism is arranged on the first sliding block.
Further, the rotating mechanism comprises a driving motor arranged on the first sliding block, and the driving motor is used for driving the guide piece to rotate around the axis of the guide piece.
Furthermore, a first transmission piece is arranged on the first sliding block, the guide piece is rotatably arranged on the first transmission piece, and the output end of the driving motor is connected with the guide piece in a gear pair connection mode, a belt wheel pair connection mode or a chain wheel pair connection mode.
Apparatus for use in an interventional procedure training system, comprising:
a catheter steering active guidance mechanism as described above for use in an interventional surgical training system;
a lever that can be pinched by a finger simultaneously with the guide, the lever being disposed parallel to the guide, the lever having two degrees of freedom of movement in its axial direction and rotation about its axis;
a force haptic feedback mechanism coupled to the status information module, the force haptic feedback mechanism configured to drive the joystick in two degrees of freedom based on the surgeon's finger motion and the status information module information;
the state information module is configured to control the catheter to steer the active guidance mechanism and/or the force haptic feedback mechanism according to a state of the joystick within the state information module.
Further, the operating rod penetrates through the guide part, a gap is reserved between the outer wall of the operating rod and the inner wall of the guide part, and the operating rod extends out of the guide part.
Further, the force tactile feedback mechanism comprises a second linear motion mechanism for driving the operating rod to move along the axial direction of the operating rod, a second rotating mechanism for controlling the operating rod to rotate, a first detection assembly for detecting the axial force/moment of the operating rod, and a second detection assembly for detecting the circumferential force/moment of the operating rod.
Further, the force tactile feedback mechanism comprises a screw pair with a second slider and a second screw rod and a control motor arranged on the second slider, the operating rod is arranged on the second slider, the screw pair with the second slider and the second screw rod is used for driving the operating rod to move along the axial direction of the operating rod, and the control motor is used for controlling the operating rod to rotate around the axis of the control motor; the catheter manipulation active guide mechanism is arranged on the second sliding block.
Furthermore, the second detection assembly comprises two groups of pressure sensors which are oppositely arranged on the second sliding block, a wedge-shaped cavity is arranged between the two groups of pressure sensors, the operating lever is perpendicular to the wedge-shaped cavity, and a wedge-shaped third transmission piece is arranged on the outer wall of the operating lever positioned in the wedge-shaped cavity; the tip of the third transmission piece and the tip of the wedge-shaped cavity are positioned on the same side.
The utility model discloses technical scheme has following advantage and beneficial effect at least:
compare in traditional intervention operation training equipment, the utility model discloses in, the doctor only need hold the guide of holding between the fingers, the pipe is controlled initiative guide mechanism and can be based on the information of storing in the state information module and guide the doctor initiatively and carry out "hand handle" ground simulation operation training, more does benefit to the doctor and simulates the operation condition, masters exact operation gimmick.
Furthermore, the utility model discloses in have above-mentioned pipe and control initiative guiding mechanism's equipment and combined initiative guide and power tactile feedback mechanism, the doctor can hold simultaneously and hold guide and control rod in the simulation training process, and the control rod can carry out tactile feedback to doctor's operation, and the guide can rectify and the initiative guide doctor's operation, more does benefit to the improvement that the doctor intervenes surgical skill.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a first perspective view of the device of the present invention used in an interventional surgical training system;
fig. 2 is a second perspective view of the device of the present invention used in an interventional operation training system;
FIG. 3 is a schematic view of the installation relationship between the second detecting component and the operating rod of the device for interventional operation training system according to the present invention;
10-base plate, 20-platform, 200-first detection assembly, 2000-first pressure sensor, 2010-second pressure sensor, 210-second detection assembly, 2100-third pressure sensor, 2110-fourth pressure sensor, 30-catheter control active guide mechanism, 300-first drive motor, 310-first lead screw, 320-first slider, 330-limit, 340-second drive motor, 350-first transmission member, 351-connection member, 360-guide member, 370-first gear, 380-second gear, 40-first transmission mechanism, 400-servo motor, 410-second lead screw, 420-second slider, 50-second transmission mechanism, 500-control motor, 60-joystick, 600-second transmission, 610-third transmission.
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. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship which is usually placed when the product of this application is used, the description is only for convenience of description and simplification, but the indication or suggestion that the device or element to be referred must have a specific orientation, be constructed in a specific orientation and be operated is not to be construed as limiting the present invention.
In the description of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1
Referring to fig. 1 to 2, the present embodiment provides a catheter manipulation active guiding mechanism 30 for use in an interventional surgery training system, the catheter manipulation active guiding mechanism 30 is connected with a state information module, and the state information module stores the mature skill and experience of an interventional surgeon in advance in the form of data and combines the information of the spatial relationship between the tip of the current catheter model and the vessel wall of the vessel model to control the catheter manipulation active guiding mechanism 30, such as VR virtual reality equipment which has been gradually developed in recent years.
The simulation state is provided with a blood vessel model and a catheter model for simulating the state relationship between a blood vessel and a catheter in an actual interventional operation, the catheter manipulation active guiding mechanism 30 is connected with a guide piece 360, and the guide piece 360 is used for prompting, correcting and actively guiding a trained doctor, namely: according to the state relationship between the catheter model and the vessel wall of the blood vessel model in the simulation state, the catheter control active guiding mechanism 30 executes the instruction of the state information module, and changes the motion state of the guiding element 360.
The guide 360 is driven by the catheter steering active guide mechanism 30, and has the following two degrees of freedom:
a first degree of freedom: move forward or backward in the axial direction of the guide 360;
the second degree of freedom: the guide 360 rotates clockwise or counterclockwise along its axis.
It should be noted that, during the movement of the guide 360, the first degree of freedom and the second degree of freedom can be executed separately or simultaneously, and the trained doctor only needs to hold and pinch the guide 360, and under the "traction" of the guide 360, can receive the normal operation mode in the interventional operation by "hand" and combine the virtual image information as if in the scene, and the doctor can quickly grasp the operation.
In order to realize the first degree of freedom and the second degree of freedom, the catheter manipulation driving guide mechanism 30 includes a linear motion mechanism and a rotation mechanism provided on the linear motion mechanism, and the guide member 360 is provided on the rotation mechanism.
The linear motion mechanism includes but is not limited to a ball screw, a linear guide rail, a movable sliding table, a linear module and other precise mechanisms capable of realizing a linear motion state.
In this embodiment, the linear motion mechanism adopts a ball screw pair, and includes a first lead screw 310 and a first slider 320, the ball screw pair is disposed on the platform 20, the platform 20 is provided with a first driving motor 300 in driving connection with the first lead screw 310, two ends of the first lead screw 310 are respectively provided with a limiting member 330 to limit the stroke of the first slider 320, in this embodiment, the first driving motor 300 adopts a Robomaster M2006P 36 speed reducing motor, and the first driving motor 300 is connected with the first lead screw 310 through a coupling.
The first lead screw 310 drives the first slider 320 to move along the axial direction of the first lead screw 310, the rotating mechanism is arranged on the first slider 320, the rotating mechanism adopts a second driving motor 340, and the type of the second driving motor 340 in this embodiment is the same as that of the first driving motor 300.
In some embodiments, the guide 360 may be mounted on the output of the second drive motor 340 when only "hand grip" active guidance of the physician is required.
In order to satisfy the active operation simulation of the catheter manipulation active guiding mechanism 30 and the doctor in the present embodiment, an apparatus for use in an interventional operation training system is specifically provided in embodiment two.
In order to meet the operation requirement of the above-mentioned apparatus, in this embodiment, the first sliding block 320 is provided with a first transmission member 350, the end of the first transmission member 350 is provided with a connection portion 351 with a hole, the connection portion 351 is rotatably provided with the guide member 360, and the connection relationship between the output end of the second driving motor 340 and the guide member 360 includes, but is not limited to, a gear pair connection, a pulley pair connection or a sprocket pair connection.
In this embodiment, the output end of the second driving motor 340 is connected to the guiding member 360 by a gear pair, that is, the guiding member 360 is provided with a first gear 370, the output end of the second driving motor 340 is provided with a second gear 380, and the first gear 370 is engaged with the second gear 380.
Example two
Referring to fig. 1 to 3, a device for use in an interventional procedure training system, the device having the following structure therein:
the catheter steering active guiding mechanism 30 for use in an interventional surgical training system as mentioned in the foregoing and in the first embodiment;
a lever 60 that can be pinched simultaneously with the guide 360 by a finger, said lever 60 being arranged parallel to the guide 360 and said lever 60 having two degrees of freedom for axial movement along itself and for rotation about its axis; the guide 360 and the operating lever 60 can be held and pinched by two or three groups of fingers, so that the distance between the guide 360 and the operating lever 60 needs to be as small as possible, the operating lever 60 can be arranged side by side with the guide 360, and the operating lever 60 can also be inserted into the guide 360.
A force tactile feedback mechanism connected to the status information module, said force tactile feedback mechanism being configured to drive said joystick 60 in two degrees of freedom depending on the surgeon's finger movements and the status information module information, whereby the force tactile feedback mechanism may be implemented using the manual operating device of the patent document mentioned in the background.
In the above-described apparatus for use in an interventional procedure training system, the state information module control is configured to control the catheter steering active guiding mechanism 30 and the force haptic feedback mechanism in an alternative actuation manner or simultaneously, depending on the state of the joystick 60 simulating the vessel model within the state information module.
In this embodiment, the guide member 360 has a circular tube shape, the operation rod 60 is inserted into the guide member 360, a gap is left between the outer wall of the operation rod 60 and the inner wall of the guide member 360, and the operation rod 60 extends out of the guide member 360, so that the doctor's fingers can grasp and pinch the edge of the guide member 360 and the surface of the operation rod 60 at the same time.
The device for interventional operation training system comprises a base plate 10, and a second linear motion mechanism and a second rotation mechanism which are arranged on the base plate 10, wherein the second linear motion mechanism can adopt any one of the linear motion mechanisms in the first embodiment, in this embodiment, the second linear motion mechanism is a first transmission mechanism 40 in the form of a ball screw pair, and the second rotation mechanism is a second transmission mechanism 50.
The first transmission mechanism 40 comprises a servo motor 400, a second lead screw 410 and a second slider 420, the servo motor 400 drives the second slider 420 to move along the axial direction of the second lead screw 410, and the platform 20 is arranged on the second slider 420; the second transmission mechanism 50 includes a control motor 500 disposed on the platform 20, the operating rod 60 is disposed on the second slider 420, the first transmission mechanism 40 is used for driving the operating rod 60 to move along the axial direction of the operating rod 60, and the control motor 500 is used for controlling the operating rod 60 to rotate along the axis thereof.
The force tactile feedback mechanism comprises the first transmission mechanism 40 and the second transmission mechanism 50, and further comprises a first detection component 200 for detecting the magnitude of the axial force/moment of the joystick 60 and a second detection component 210 for detecting the magnitude of the circumferential force/moment of the joystick 60.
Referring to fig. 2 and 3, the first detecting component 210 adopts the prior art: the first detection assembly 210 comprises a first pressure sensor 2000 and a second pressure sensor 2010 arranged along the axial direction of the operating lever 60, a second transmission piece 600 is arranged at the tail end of the operating lever 60, and the second transmission piece 600 is arranged between the first pressure sensor 2000 and the second pressure sensor 2010 and used for detecting the axial force/moment of the operating lever 60 and providing force/moment information for the state information module; the second detection component 210 includes set up relatively in two sets of pressure sensor on the platform 20, third pressure sensor 2100 and fourth pressure sensor 2110, the ascending wedge cavity of opening has between two sets of pressure sensor, the control rod 60 perpendicular to the wedge cavity sets up, and is located and is equipped with the massive third driving medium 610 of wedge on the control rod 60 outer wall in the wedge cavity, the pointed end of third driving medium 610 with the pointed end of wedge cavity is located same side, all is located the lower extreme promptly, through the rotation of control rod 60, can provide the circumference power/moment information of control rod 60 for the state information module.
(1) When a doctor operates the control lever 60 to move, the control lever 60 touches the first detection assembly 200, signals are processed by the state information module, and then the rotating speed of the servo motor 400 is adjusted through the encoder, so that the moving speed of the platform 20 and the control lever 60 is controlled, and force touch feedback is provided for the doctor;
(2) similarly, when the doctor operates the joystick 60 to rotate, and touches the second detection assembly 210, the doctor controls the rotation speed of the motor 500 to further change the rotation speed of the joystick 60, so as to provide force tactile feedback to the doctor.
Depending on the surgeon's operation, the two aforementioned haptic feedback forces may be generated separately or simultaneously, and are generally described as: in the force tactile feedback mechanism, the doctor controls the joystick 60 to move first, the servo motor 400 and/or the control motor 500 to move later, and when the joystick 60 does not move, the servo motor 400 and/or the control motor 500 do not move. In using the device of the present embodiment for use in an interventional procedure training system, the following states exist:
s1: the doctor holds the operation lever 60 and the guide member 360 simultaneously by fingers to move axially of the operation lever 60; the second transmission member 600 contacts a set of pressure sensors in the second detection assembly 200, and the information of the axial movement is converted into a control signal of the first transmission mechanism 40 through an existing algorithm, so as to control the axial movement of the platform 20 along the second lead screw 410; meanwhile, the encoder in the servo motor 400 records the distance of the axial movement, and converts the distance of the movement into an axial movement control signal for driving the control lever 60 by the state information module, and the state of the blood vessel model of the person in virtual reality is simulated in the state information module, so that a doctor can embody a vivid interventional operation environment.
In addition, the resistance condition of the catheter in the blood vessel in the real interventional operation is simulated, when the state information module detects that the axial direction of the catheter model in the simulated state is subjected to resistance, particularly the axial resistance is increased, the axial resistance and the force/moment detected by the first detection assembly 200 are superposed to obtain a resultant force, the resultant force is reduced, the resultant force is converted into a control signal of the servo motor 400, the rotating speed of the servo motor 400 is further reduced, so that a doctor feels the tactile feedback in the form of force in the axial direction of the operating rod 60, and the algorithm of the resultant force and the conversion of the signal are converted into the prior art, which is not described herein again.
After the tactile feedback of the force is sensed, the doctor changes the movement in the original axial direction and adjusts the movement mode, wherein the adjustment mode comprises retreating, rotating or changing the magnitude of the applied force.
S2: the circumferential rotation of the joystick 60, the rotation of the guide shaft 60 by the surgeon, which may be clockwise or counterclockwise, the force/moment of rotation detected by the second detection assembly 210, and the angle of rotation detected by the encoder in the control motor 500; the rotation angle information is converted into a rotation angle input signal of the blood vessel model in the state information module through the existing algorithm, and the blood vessel model correspondingly rotates by the same angle.
In addition, when the state information module detects that the catheter model is subjected to resistance in the rotating direction, the rotating speed of the control motor 500 is adjusted, and the rotating direction of the operating rod 60 gives out tactile feedback to remind a doctor of making a corresponding action change.
S3, if the space position between the tip of the catheter model and the vessel wall of the vessel model in the state information module is in a dangerous state, or the current vessel structure is complex and needs to guide the trained doctor by means of abundant operation skill and experience of the interventionalist, the state information module starts the catheter to control the active guiding mechanism 30; after the catheter manipulation active guiding mechanism 30 is started, the skill and experience of the interventionalist stored in the state information module controls the actions of the first driving motor 300 and the second driving motor 340 through the control signal controller, namely:
s3.1, if the trainee is required to be guided to perform intubation, the first driving motor 300 rotates clockwise to drive the guide piece 360 to move axially along the operating rod 60, the moving distance is actively controlled by the state information module, and the fingers of the trainee placed on the guide piece 360 feel axial force and touch guidance, so that the trainee is instructed to perform intubation operation.
S3.2, if the trainee needs to be guided to perform the tube drawing action, the first driving motor 300 rotates anticlockwise to drive the trainee to move backwards, and the fingers of the trainee placed on the guide piece 360 feel backward force/touch guidance, so that the aim of indicating the trainee to perform the tube drawing operation is fulfilled.
S3.3, if the trainee needs to be guided to rotate the guide piece 360 clockwise, the second driving motor 340 rotates anticlockwise to drive the guide piece 360 to rotate clockwise, and at the moment, the fingers of the trainee placed on the guide piece 360 feel force/touch guidance in the clockwise direction, so that the aim of indicating the trainee to rotate the operating lever clockwise is fulfilled.
S3.4, if the trainee needs to be guided to rotate the operating lever anticlockwise, the second driving motor 340 rotates clockwise to drive the guide piece 360 to rotate anticlockwise, and at the moment, the fingers of the trainee placed on the guide piece 360 feel force/touch guidance in the anticlockwise direction, so that the aim of indicating the trainee to rotate the operating lever anticlockwise is fulfilled.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A state information module for intervene operation information is connected with to be controlled initiative guiding mechanism by pipe for intervene among the operation training system, its characterized in that:
a guide (360) is connected to the catheter manipulation active guiding mechanism (30), and the catheter manipulation active guiding mechanism (30) is configured to execute the instructions of the state information module to drive the guide (360) to move in two degrees of freedom.
2. The catheter steering active guidance mechanism for use in an interventional procedure training system of claim 1, wherein:
the catheter control active guide mechanism (30) comprises a linear motion mechanism and a rotating mechanism arranged on the linear motion mechanism, the guide piece (360) is arranged on the rotating mechanism, and the rotating mechanism is used for driving the guide piece (360) to rotate around the axis of the guide piece (360);
the guide (360) has a first degree of freedom for movement in the direction of motion of the linear motion mechanism and a second degree of freedom for rotation about the axis of the guide (360).
3. The catheter steering active guidance mechanism for use in interventional surgical training systems of claim 2, wherein:
the linear motion mechanism comprises a screw pair with a first screw (310) and a first sliding block (320), the screw pair drives the first sliding block (320) to move along the axial direction of the first screw (310), and the rotating mechanism is arranged on the first sliding block (320).
4. The catheter steering active guidance mechanism for use in interventional surgical training systems of claim 3, wherein:
the rotating mechanism comprises a driving motor arranged on the first sliding block (320).
5. The catheter steering active guidance mechanism for use in interventional surgical training systems of claim 4, wherein:
the first sliding block (320) is provided with a first transmission piece (350), the guide piece (360) is rotatably arranged on the first transmission piece (350), and the output end of the driving motor is connected with the guide piece (360) in a gear pair connection mode, a belt wheel pair connection mode or a chain wheel pair connection mode.
6. An apparatus for use in an interventional surgical training system, comprising:
the catheter steering active guiding mechanism for use in an interventional procedure training system of any one of claims 1 to 5;
a lever (60) that can be pinched simultaneously with the guide (360) by a finger, said lever (60) being arranged parallel to the guide (360), said lever (60) having two degrees of freedom for moving axially along itself and for rotating about its axis;
a force haptic feedback mechanism coupled to the status information module, the force haptic feedback mechanism configured to drive the joystick (60) in two degrees of freedom in accordance with the surgeon's finger movements and status information module commands;
the state information module is configured to activate the catheter steering active guidance mechanism (30) and/or the force haptic feedback mechanism depending on the state of the joystick (60) within the state information module.
7. The device of claim 6 for use in an interventional procedure training system, wherein:
the guide piece (360) is tubular, the operating rod (60) is arranged in the guide piece (360) in a penetrating mode, a gap is reserved between the outer wall of the operating rod (60) and the inner wall of the guide piece (360), and the operating rod (60) extends out of the guide piece (360).
8. The device of claim 7 for use in an interventional procedure training system, wherein: the force tactile feedback mechanism comprises a second linear motion mechanism for driving the operating rod (60) to move along the axial direction of the operating rod (60), a second rotating mechanism for controlling the operating rod (60) to rotate, a first detection assembly (200) for detecting the axial force/moment of the operating rod (60) and a second detection assembly (210) for detecting the circumferential force/moment of the operating rod (60).
9. The device of claim 8 for use in an interventional procedure training system, wherein:
the force tactile feedback mechanism comprises a screw pair with a second slider (420) and a second screw (410) and a control motor (500) arranged on the second slider (420), the operating rod (60) is arranged on the second slider (420), the screw pair with the second slider (420) and the second screw (410) is used for driving the operating rod (60) to move along the axial direction of the operating rod (60), and the control motor (500) is used for controlling the operating rod (60) to rotate around the axis of the control motor;
the catheter manipulation active guiding mechanism (30) is arranged on the second sliding block (420).
10. The device of claim 9 for use in an interventional procedure training system, wherein:
the second detection assembly (210) comprises two groups of pressure sensors which are oppositely arranged on the second sliding block (420), a wedge-shaped cavity is arranged between the two groups of pressure sensors, the operating rod (60) is perpendicular to the wedge-shaped cavity, and a wedge-shaped third transmission piece (610) is arranged on the outer wall of the operating rod (60) in the wedge-shaped cavity;
the tip of the third transmission piece (610) is located on the same side as the tip of the wedge-shaped cavity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023230393.5U CN213935257U (en) | 2020-12-28 | 2020-12-28 | Catheter manipulation active guiding mechanism and device for interventional operation training system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023230393.5U CN213935257U (en) | 2020-12-28 | 2020-12-28 | Catheter manipulation active guiding mechanism and device for interventional operation training system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213935257U true CN213935257U (en) | 2021-08-10 |
Family
ID=77156493
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023230393.5U Active CN213935257U (en) | 2020-12-28 | 2020-12-28 | Catheter manipulation active guiding mechanism and device for interventional operation training system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213935257U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112562445A (en) * | 2020-12-28 | 2021-03-26 | 西南石油大学 | Catheter manipulation active guiding mechanism and device for interventional operation training system |
| CN113823161A (en) * | 2021-09-22 | 2021-12-21 | 山东静禾医疗科技有限公司 | Double-channel interventional operation simulation device and simulation control method |
-
2020
- 2020-12-28 CN CN202023230393.5U patent/CN213935257U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112562445A (en) * | 2020-12-28 | 2021-03-26 | 西南石油大学 | Catheter manipulation active guiding mechanism and device for interventional operation training system |
| CN113823161A (en) * | 2021-09-22 | 2021-12-21 | 山东静禾医疗科技有限公司 | Double-channel interventional operation simulation device and simulation control method |
| CN113823161B (en) * | 2021-09-22 | 2023-02-28 | 山东静禾医疗科技有限公司 | Double-channel interventional operation simulation device and simulation control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN213935257U (en) | Catheter manipulation active guiding mechanism and device for interventional operation training system | |
| JP7349229B2 (en) | Vascular interventional robot operating handle with guidewire catheter propulsion resistance feedback | |
| CN111084661B (en) | Surgical assistance device and recording medium | |
| KR102414384B1 (en) | Detecting uncontrolled movement | |
| KR102086504B1 (en) | System and method for compensating force or torque limits | |
| EP2249736B1 (en) | Model catheter input device | |
| JP5773884B2 (en) | Robot catheter system input device | |
| US8740882B2 (en) | Medical robotic system and method of controlling the same | |
| CN116035699A (en) | System and method for constraining a virtual reality surgical system | |
| CN111770737A (en) | Special tactile hand controller for microsurgery | |
| US20110144806A1 (en) | Intelligent input device controller for a robotic catheter system | |
| EP3402434B1 (en) | Uniform scaling of haptic actuators | |
| Kazi | Operator performance in surgical telemanipulation | |
| US20210298855A1 (en) | Master control device with finger grip sensing and methods therefor | |
| US20230064265A1 (en) | Moveable display system | |
| JP2004129782A (en) | Surgical manipulator and its operation input apparatus | |
| CN112562445A (en) | Catheter manipulation active guiding mechanism and device for interventional operation training system | |
| CN107233133B (en) | Force feedback system for virtual laparoscopic surgery | |
| US20220296323A1 (en) | Moveable display unit on track | |
| CN211044621U (en) | Manual operation device based on blood vessel intervention operation training system | |
| CN107945603B (en) | Force feedback device for two-degree-of-freedom virtual surgery | |
| US20240111357A1 (en) | Interaction between user-interface and master controller | |
| EP4101414A1 (en) | Robotic surgical system | |
| CN111047940A (en) | Manual operation device based on blood vessel intervention operation training system | |
| Panchaphongsaphak et al. | Haptic device for a ventricular shunt insertion simulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |