CN2733316Y - Force harvesting device for surgical knives - Google Patents
Force harvesting device for surgical knives Download PDFInfo
- Publication number
- CN2733316Y CN2733316Y CN 200420006486 CN200420006486U CN2733316Y CN 2733316 Y CN2733316 Y CN 2733316Y CN 200420006486 CN200420006486 CN 200420006486 CN 200420006486 U CN200420006486 U CN 200420006486U CN 2733316 Y CN2733316 Y CN 2733316Y
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- Prior art keywords
- scalpel
- knife
- force
- handle
- accelerometer
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- Expired - Lifetime
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- 238000003306 harvesting Methods 0.000 title abstract 4
- 238000005520 cutting process Methods 0.000 claims description 22
- 238000012360 testing method Methods 0.000 claims description 5
- 230000007704 transition Effects 0.000 claims description 2
- 230000001133 acceleration Effects 0.000 claims 1
- 230000008054 signal transmission Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 12
- 210000000056 organ Anatomy 0.000 description 11
- 210000001519 tissue Anatomy 0.000 description 9
- 238000001356 surgical procedure Methods 0.000 description 5
- 239000002245 particle Substances 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 210000004872 soft tissue Anatomy 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001839 endoscopy Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000001815 facial effect Effects 0.000 description 1
- 238000007654 immersion Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000000704 physical effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 210000000697 sensory organ Anatomy 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Abstract
The utility model relates to a force harvesting device for surgical knives, comprising a computer, a surgical knife, a signal transmission line (1), an accelerameter (2), a touch force transducer (3), an outer sleeve (4), a knife handle (5), a rotating shaft (6), a blade (7) and a three-dimensional tracking device. The accelerameter (2) and the knife handle (5) are sheathed in the outer sleeve (4), and the accelerameter (2) is positioned at the backmost part; the knife handle (5) is connected with the outer sleeve (4) through the rotating shaft (6), the blade (7) is mounted on the knife handle (5), and the touch force transducer (3) is positioned at the middle-to-low part of the outer sleeve (4); the lower part of the knife handle (5) is contacted with a touch force ball which is arranged on the touch force transducer (3), and the three-dimensional tracking device is mounted on the side surface of the force collecting device of the surgical knife. The force harvesting device for surgical knives has compact conformation and easy use, and can collect the real-time data of the stress on knife edges, the position and the attitude of the surgical knife, and the moving speed of the surgical knife, so that the force harvesting device for surgical knives can provide necessary conditions for the modeling approach of physical models in virtual surgeries.
Description
Technical field
The utility model relates to the force acquisition device of the harvester technical field, particularly a kind of scalpel that are used for acting force on the operation operating theater instruments.
Background technology
Virtual operation is the important application of virtual reality technology in medical domain, it can make the medical worker be immersed in the virtual operation environment of computing machine generation, experience and learn how to carry out various operations by virtual operation instrument, and cultivate the ability of dealing with various emergency case.In virtual surgical system,, must send position and the attitude information of virtual operation instrument in the space to generate virtual views computer system in real time in order to realize and the man-machine interaction of virtual human body or virtual organ; Simultaneously, can finish operations in order to make the operator in virtual scene, power feels that feedback system also is absolutely necessary on the operating theater instruments on the spot in personly.
Virtual operation instrument collision in the virtual operation, when pressing or cutting virtual human body and organ, in order to make the operator that real feeling of immersion be arranged, the power on the scalpel feels that feedback assembly can produce one according to the difference of tissue difference and depth of cut and cutting speed and the power of respective change is felt and reproduced.In the research of virtual operation, many application all must be used physical model, to reach real vision and haptic effect, comprise real-time surgical simulation and medical science training.For the complicated biomechanics characteristic of simulated human tissue and organ exactly, these application combine various mechanical characteristic.
Power feels that modeling mainly comprises the contact response Dynamic Modeling of dummy object and the generating algorithm that power is felt.Power vision model how to set up virtual environment becomes the key issue that needs to be resolved hurrily in the virtual operation technical research.Power feels that modeling method can be divided into two big classes according to the difference of the body method for expressing of their foundations: a class is based on the modeling of B reps and based on the modeling of voxel representation, the former proposes to be applicable to that the power reproducting method of NURBS model is representative that the latter feels that with the power based on voxel of R.S.Avila proposition in 1996 reproducing model is representative with Thompson in 1997.Power feels that modeling also can be divided into spring-particle model and finite element model according to deformation.Particle spring model and Finite Element are the main Modeling Technology of coming the analogies body deformability according to physical action.Because the former is simple relatively, has been applied to many fields, for example facial tissue's simulation, the plastic operation of cranium face, endoscopy training etc.Yet the particle spring model involves complicated stiffness matrix formulator, and determines the differential equation system of dynamic perfromance must satisfy some conditions, to avoid unstability when asking numerical solution.On the other hand, finite element method is applied to some more accurately on the distorted pattern, does more accurate analysis with the strain-stress relation to soft tissue, as biomechanics, surgical simulation etc.Though finite element method is comparatively accurate, relate to a large amount of complicated calculating, be not suitable for real-time interactive application.The calculating of these physical models is comparatively complicated, is not suitable for the virtual reality applications of requirement Gao Gengxin rate, real-time visual and tactile feedback.And these modeling methods are based on theoretic calculating because tissue and the complicated biomechanics characteristic of organ, the power that draws in theory with truly perform the operation in press with cutting force difference still arranged.Thereby setting up a suitable virtual reality physical model that use, that have true effect is an extremely important task.
Up to now few people carry out power to scalpel in the actual operation true stressed and feel and gather and modeling is studied.The method emulation cutting process of neither one standard also, also seldom have document to the true stressed of blade in the actual operation cutter cutting soft tissue process and to Soft Tissue Deformation study, analysis and modeling.In order to set up one based on true cutting data power vision model, this model is according to the difference of tissue difference, depth of cut and cutting speed, the power difference of generation.This paper proposes a kind ofly to be captured in the cutting process power that the operation blade applies human tissue organ in real time, and scalpel attitude, position and movable information method, for the physical modeling based on true cutting provides necessary condition.
The utility model content
The purpose of this utility model is to provide a kind of force acquisition device of scalpel, this device can be gathered operating theater instruments collision, the acting force when pressing and cutting human body or organ on the blade in the operation simultaneously, the position of operating theater instruments, attitude, depth of cut, and cutting speed information.For virtual operation instrument collision in the virtual operation, the required power vision model of force feedback provides enough data messages when pressing and cutting virtual human body or organ.
Comprise computing machine and scalpel, be installed in the touch force sensor under the handle of a knife, obtain the acting force on the scalpel blade in operation or the cutting test according to lever balance theory; Three-dimensional tracking equipment detects the position of scalpel and the attitude of scalpel; Accelerometer combines with the detected information of three-dimensional tracking equipment, obtains the scalpel movement velocity.For virtual operation instrument collision in the virtual operation, the required power vision model of force feedback provides enough data messages when pressing and cutting virtual human body or organ.
The utility model can be gathered the power that scalpel applies human tissue organ in the surgical procedure in real time, the attitude of scalpel, position and speed, and the tissue of the human organ that is cut and depth of cut information.Purpose is to organize the difference of physical model according to Different Organs, set up corresponding power feel reproduction model in the operation: when the attitude of knowing scalpel, position and velocity information, and the tissue of the human organ that is cut and depth of cut, this model can provide power of the same size in corresponding and the actual operation, realizes that the power feel in the virtual operation process is reproduced.This method has reduced a large amount of evaluation works of the theoretical modeling method that adopts in the tradition, provide in the real surgical procedure stressed on the operation blade, the operator is immersed in the virtual operation environment, sense organ such as vision, sense of touch carries out alternately with the virtual environment that is generated by computing machine, experience the various situations that surgical procedure runs into, reduced the cost and the time of cultivating the medical worker.This utility model has actual using value.
For achieving the above object, force acquisition device in the operation is to transform on true scalpel, and it comprises knife handle, the overcoat that install by rotating shaft the handle of a knife outside, knife blade, accelerometer are installed in and are used for measuring the scalpel movement velocity in the handle of a knife overcoat; The three-dimensional tracking means that is installed in the overcoat side detects the position and the attitude information of scalpel; The touch force sensor that is positioned at handle of a knife below detects handle of a knife and applies thereon pressure, according to lever balance theory, can calculate the acting force on the blade.
The utlity model has compact conformation, volume is light, easy to use, does not hinder the characteristics of operator's action, can use this system to undergo surgery or cutting test easily.
The utility model technical scheme
Force acquisition device in a kind of operation comprises computing machine, and A/D transition card and scalpel also comprise:
Touch force sensor is used for detecting the acting force on operation or the cutting test scalpel;
Three-dimensional tracking equipment detects the position of scalpel and the attitude of scalpel.
Accelerometer combines with the detected information of three-dimensional tracking equipment, obtains the scalpel movement velocity;
Force acquisition device in the operation, by signal transmssion line (1), accelerometer (2), touch force sensor (3), overcoat (4), handle of a knife (5), rotating shaft (6), blade (7) and three-dimensional tracking means are formed, accelerometer (2) and handle of a knife (5) are contained in the overcoat (4), accelerometer (2) is in rear portion, and touch force sensor (3) is in the rear portion of handle of a knife (5), and handle of a knife (5) is connected with overcoat (4) by rotating shaft (6), blade (7) is installed on the handle of a knife (5), touch force sensor (3) is in the middle and lower part of overcoat (4), and the rear lower of handle of a knife (5) contacts with force touching ball on the touch force sensor (3), and three-dimensional tracking means is installed in the side of the force acquisition device of scalpel.
Description of drawings
Fig. 1 is the cut-away view of the utility model scalpel force acquisition device.
Embodiment
Use the utility model to undergo surgery or during cutting test, as shown in Figure 1, knife handle 5 is installed in 4 li of pipe boxes by rotating shaft 6; Scalpel cutting object 8 is subjected to making its 6 power f that are rotated counterclockwise around the shaft, and the small angle handle of a knife rear end of handle of a knife rotation will contact with the stressed ball of touch force sensor 3, is subjected to 6 equilibrant F that turn clockwise around the shaft.The angle difference that scalpel tilts during cutting, the contact point difference that blade contacts with cutting planes, arm of force l respective change.According to principle of moment balance FL=fl, can calculate cutting force f.Accelerometer 2 is measured the velocity information of scalpel motion.
That touch force sensor is selected for use is the FS series of products FSL05N2C of Honerwell company, and this sensor touch scope is 500g.Accelerometer has adopted the white axis accelerometer ADXL202 based on the MEMS technology.It is little that these two kinds of sensors all have a volume, precision height, characteristics such as measurement range is big.What three-dimensional tracking means adopted is the Fastrack product of Polhemus company, and it is easy to use, and volume is little, is the tracker of a six degree of freedom, positional precision can 0.03 " (0.08cm) RMS, anglec of rotation precision reaches 0.15 ° of RMS.This design selects for use accelerometer to determine the motion velocity information of scalpel, and three-dimensional tracking means is determined the attitude and the positional information of scalpel, and touch force sensor is gathered the acting force on the scalpel.
Claims (12)
1. an operating force acquisition device comprises computing machine, and A/D transition card and scalpel is characterized in that, also comprise:
Touch force sensor is used for detecting the acting force on operation or the cutting test scalpel;
Three-dimensional tracking equipment detects the position of scalpel and the attitude of scalpel;
Accelerometer combines with the detected information of three-dimensional tracking equipment, obtains the scalpel movement velocity.
2. by the described device of claim 1, it is characterized in that described scalpel force acquisition device comprises scalpel and overcoat.
3. by the described device of claim 2, it is characterized in that scalpel and apply mechanically a turning axle outward and be installed together.
4. by the described device of claim 1, it is characterized in that, in the described overcoat accelerometer has been installed.
5. by the described device of claim 1, it is characterized in that described three-dimensional tracking means is installed in scalpel and puts outward.
6. by the described device of claim 1, it is characterized in that, described touch force sensor be installed in knife handle under.
7. by the described device of claim 1, it is characterized in that described acting force, position, attitude, acceleration signal will be delivered to computing machine.
8, device according to claim 1, by signal transmssion line (1), accelerometer (2), touch force sensor (3), overcoat (4), handle of a knife (5), rotating shaft (6), blade (7) and three-dimensional tracking means are formed, it is characterized in that, accelerometer (2) and handle of a knife (5) are contained in the overcoat (4), and accelerometer (2) is in rear portion, and handle of a knife (5) is connected with overcoat (4) by rotating shaft (6), blade (7) is installed on the handle of a knife (5), touch force sensor (3) is in the middle and lower part of overcoat (4), and the rear lower of handle of a knife (5) contacts with force touching ball on the touch force sensor (3), and three-dimensional tracking means is installed in the side of the force acquisition device of scalpel.
9, the force acquisition device of scalpel according to Claim 8 is characterized in that, touch force sensor (3) be installed in handle of a knife (5) under.
10, the force acquisition device of scalpel according to Claim 8 is characterized in that, accelerometer (2) adopts ADXL202.
11, the force acquisition device of scalpel according to Claim 8 is characterized in that, touch force sensor (3) is selected FSL05N2C for use.
12, the force acquisition device of scalpel according to Claim 8 is characterized in that, three-dimensional tracking means adopts Fastrack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420006486 CN2733316Y (en) | 2004-03-30 | 2004-03-30 | Force harvesting device for surgical knives |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420006486 CN2733316Y (en) | 2004-03-30 | 2004-03-30 | Force harvesting device for surgical knives |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2733316Y true CN2733316Y (en) | 2005-10-12 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200420006486 Expired - Lifetime CN2733316Y (en) | 2004-03-30 | 2004-03-30 | Force harvesting device for surgical knives |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2733316Y (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104939800A (en) * | 2015-06-16 | 2015-09-30 | 山东省肿瘤防治研究院 | Gastrointestinal automatic detection surgical instrument |
| CN106344116A (en) * | 2016-10-13 | 2017-01-25 | 武汉大学 | Visual intelligent ceramic needle knife |
| CN106361406A (en) * | 2016-10-13 | 2017-02-01 | 武汉大学 | Multi-angle visual high-intensity and high-toughness intelligent ceramic needle knife |
| CN106377299A (en) * | 2016-10-13 | 2017-02-08 | 武汉大学 | High-strength high-toughness self-sensing intelligent ceramic needle knife |
| CN106377298A (en) * | 2016-10-13 | 2017-02-08 | 武汉大学 | Visual high-strength high-toughness intelligent ceramic needle knife |
| CN106442530A (en) * | 2016-10-13 | 2017-02-22 | 武汉大学 | Visual detector achieving real-time monitoring of soil property |
-
2004
- 2004-03-30 CN CN 200420006486 patent/CN2733316Y/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104939800A (en) * | 2015-06-16 | 2015-09-30 | 山东省肿瘤防治研究院 | Gastrointestinal automatic detection surgical instrument |
| CN106344116A (en) * | 2016-10-13 | 2017-01-25 | 武汉大学 | Visual intelligent ceramic needle knife |
| CN106361406A (en) * | 2016-10-13 | 2017-02-01 | 武汉大学 | Multi-angle visual high-intensity and high-toughness intelligent ceramic needle knife |
| CN106377299A (en) * | 2016-10-13 | 2017-02-08 | 武汉大学 | High-strength high-toughness self-sensing intelligent ceramic needle knife |
| CN106377298A (en) * | 2016-10-13 | 2017-02-08 | 武汉大学 | Visual high-strength high-toughness intelligent ceramic needle knife |
| CN106442530A (en) * | 2016-10-13 | 2017-02-22 | 武汉大学 | Visual detector achieving real-time monitoring of soil property |
| CN106377298B (en) * | 2016-10-13 | 2019-01-18 | 武汉大学 | A kind of visualization high-intensity and high-tenacity intelligent ceramic needle knife |
| CN106361406B (en) * | 2016-10-13 | 2019-01-29 | 武汉大学 | A kind of multi-angle visible high-intensity and high-tenacity intelligent ceramic needle knife |
| CN106442530B (en) * | 2016-10-13 | 2019-02-26 | 武汉大学 | A kind of visualization detector of soil capability real-time monitoring |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CX01 | Expiry of patent term |
Expiration termination date: 20140330 Granted publication date: 20051012 |