DE20280425U1 - Device for simulating a rod-shaped surgical instrument with force feedback - Google Patents
Device for simulating a rod-shaped surgical instrument with force feedback Download PDFInfo
- Publication number
- DE20280425U1 DE20280425U1 DE20280425U DE20280425U DE20280425U1 DE 20280425 U1 DE20280425 U1 DE 20280425U1 DE 20280425 U DE20280425 U DE 20280425U DE 20280425 U DE20280425 U DE 20280425U DE 20280425 U1 DE20280425 U1 DE 20280425U1
- Authority
- DE
- Germany
- Prior art keywords
- cylindrical element
- ball bearings
- grooves
- handle
- positive engagement
- 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.)
- Expired - Lifetime
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
- G09B23/285—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- Computational Mathematics (AREA)
- Mathematical Optimization (AREA)
- Medical Informatics (AREA)
- Medicinal Chemistry (AREA)
- Chemical & Material Sciences (AREA)
- Algebra (AREA)
- Radiology & Medical Imaging (AREA)
- Pulmonology (AREA)
- Mathematical Analysis (AREA)
- General Health & Medical Sciences (AREA)
- Mathematical Physics (AREA)
- Pure & Applied Mathematics (AREA)
- Business, Economics & Management (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- Theoretical Computer Science (AREA)
- Surgical Instruments (AREA)
Abstract
Vorrichtung zur Simulation eines stabförmigen virtuellen chirurgischen Instrumentes, insbesondere für die Simulation eines endoskopischen Instrumentes, mit einem ortsfesten Gestell, mit einem Handgriff des Instrumentes, mit mindestens einem Antriebsblock (4) für eine Kaftrückkopplung und mit einem virtuellen Trokar, wobei der Handgriff über den virtuellen Trokar und über den Antriebsblock (4) mit dem Gestell verbunden ist, dadurch gekennzeichnet, dass der Handgriff mit einem zylindrischen Element (1) verbunden ist, dass das zylindrische Element (1) über mindestens zwei Nuten (15, 45) verfügt, in die die Antriebsblöcke (4) eingreifen, so dass eine feste Zuordnung von Position in longitudinaler und in Drehrichtung zum Antriebsblock (4) festlegbar ist.contraption to simulate a rod-shaped virtual surgical instrument, especially for simulation an endoscopic instrument, with a fixed frame, with a handle of the instrument, with at least one drive block (4) for one Kaftrückkopplung and with a virtual trocar, the handle over the virtual trocar and over the drive block (4) is connected to the frame, characterized in that that the handle is connected to a cylindrical element (1) is that the cylindrical element (1) has at least two grooves (15, 45) has in the the drive blocks (4) intervene so that a fixed assignment of position in longitudinal and can be fixed in the direction of rotation to the drive block (4).
Description
Die Erfindung betrifft eine Vorrichtung zur Simulation eines stabförmigen virtuellen chirurgischen Instrumentes, insbesondere für die Simulation eines endoskopischen Instrumentes, mit einem ortsfesten Gestell, mit einem Handgriff des Instrumentes, mit mindestens einem Antriebsblock für eine Kraftrückkopplung und mit einem virtuellen Trokar, wobei der Handgriff über den virtuellen Trokar und über den Antriebsblock mit dem Gestell verbunden ist.The The invention relates to a device for simulating a virtual bar surgical instrument, especially for simulating an endoscopic Instrumentes, with a fixed frame, with a handle of the instrument, with at least one drive block for force feedback and with a virtual trocar, the handle over the virtual trocar and over the drive block is connected to the frame.
Bei solchen Vorrichtungen zum Einsatz bei der Simulation von Operationen, insbesondere endoskopischen Eingriffen, werden Antriebsblöcke eingesetzt. Diese werden in einer weise angesteuert, um eine Übertragung von simulierten Kräften auf das Instrument zu gestatten. Bei solchen stabförmigen Instrumenten greift der Antriebsblock auf einen Stab oder ein Rohr, an dem am proximalen Ende der besagte Handgriff befestigt ist. Ein Paar von Antriebsblöcken, wie sie in der CH 385/01 der Anmelderin beschrieben sind, greift auf den Stab zu und verschiebt diesen zwischen sich in longitudinaler Richtung. Dabei entsteht ein gewisser Schlupf, der es gemäss der dort beschriebenen Lehre notwendig macht, mit Mess- und Kalibriereinrichtungen die tatsächliche Lage des Stabes im Bezug auf die Antriebsblöcke festzulegen.at such devices for use in the simulation of operations, drive blocks are used in particular endoscopic interventions. These are driven in a way to make a transmission of simulated forces to allow the instrument. With such rod-shaped instruments the drive block grips a rod or a tube, on which proximal end of said handle is attached. A pair of Drive blocks, as described in the applicant's CH 385/01 applies towards the rod and moves it between them in a longitudinal direction Direction. This creates a certain slip, which is according to the one there described teaching is necessary, with measuring and calibration equipment the actual location of the rod in relation to the drive blocks.
Ausgehend von diesem Stand der Technik liegt der Erfindung die Aufgabe zugrunde, einen Antrieb anzugeben, der ohne Auftreten eines Schlupfes arbeitet. Darüber hinaus ist es Ziel der Erfindung, diesen Antrieb so auszugestalten, dass der Operateur am Handgriff keine Schläge oder ein Ruckeln verspürt, welches durch den Kraftschluss oder Formschluss zwischen Stab und Antriebsblock entstehen könnte.outgoing From this prior art, the invention is based on the object specify a drive that works without slippage. About that it is also the aim of the invention to design this drive in such a way that the operator does not feel any knocks or jerking on the handle, which through the frictional connection or positive connection between rod and drive block could arise.
Diese Aufgabe wird für eine Vorrichtung der eingangs genannten Art mit den Merkmalen des Anspruchs 1 gelöst.This Task becomes for a device of the type mentioned with the features of Claim 1 solved.
Dadurch, dass ein zylindrisches Element, welches dem oben genannten Stab entspricht, über mindestens zwei Nuten verfügt, in die die Antriebsblöcke eingreifen, kann eine sichere Zuordnung von Position in longitudinaler und in Drehrichtung zum Antriebsblock festgelegt werden.Thereby, that a cylindrical element that matches the above rod corresponds, about at least has two grooves, into which the drive blocks Intervene, a safe assignment of position in the longitudinal and set in the direction of rotation to the drive block.
Mit der in den Unteransprüchen genannten Ausgestaltung und Anordnung der Nuten kann zudem erreicht werden, dass an den besagten Kreuzungsstellen der Nuten der Antrieb einen Vortrieb hat, der zu keinen Schlägen bei Überfahren dieser Kreuzungsstellen führt.With that in the subclaims mentioned design and arrangement of the grooves can also be achieved be that at the said intersections of the grooves of the drive has a drive that leads to no blows when crossing these intersections leads.
Aus der WO99/38141 ist es bekannt, einen Antrieb mit drei Stellgliedern anzugeben, die in einem Winkel von 120 Grad zueinander stehen, um ein simuliertes Endoskop in einen simulierten gastrointestinalen Trakt vorzuschieben.Out WO99 / 38141 discloses a drive with three actuators to be specified, which are at an angle of 120 degrees to each other in order a simulated endoscope into a simulated gastrointestinal To move the wing forward.
Weitere vorteilhafte Ausführungsformen sind in den Unteransprüchen gekennzeichnet.Further advantageous embodiments are in the subclaims characterized.
Anschliessend wird nun die Erfindung anhand von mehreren Ausführungsbeispielen in den Zeichnungen beispielhaft näher erläutert.Subsequently The invention is now based on several embodiments in the drawings exemplary closer explained.
Es zeigen:It demonstrate:
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Claims (10)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CH01683/01A CH696009A5 (en) | 2001-09-12 | 2001-09-12 | Device for simulation of a rod-shaped surgical instrument with force feedback. |
CH1683/01 | 2001-09-12 | ||
PCT/CH2002/000503 WO2003023736A1 (en) | 2001-09-12 | 2002-09-12 | Device for simulating a rod-shaped surgical instrument having a force feedback effect |
Publications (1)
Publication Number | Publication Date |
---|---|
DE20280425U1 true DE20280425U1 (en) | 2004-09-09 |
Family
ID=4565885
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE20280425U Expired - Lifetime DE20280425U1 (en) | 2001-09-12 | 2002-09-12 | Device for simulating a rod-shaped surgical instrument with force feedback |
Country Status (3)
Country | Link |
---|---|
CH (1) | CH696009A5 (en) |
DE (1) | DE20280425U1 (en) |
WO (1) | WO2003023736A1 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008013496A1 (en) | 2008-03-10 | 2009-09-17 | Polydimensions Gmbh | Device for form-fit coupling of multiple instruments to equipment with haptic feedback, comprises coupling function, and combination of friction clutch for repeated taking of parking position is provided |
DE102008013495A1 (en) | 2008-03-10 | 2009-09-24 | Polydimensions Gmbh | Haptic impression producing device for laparoscopic surgical simulation, has upper and lower joints fastened at pivot and working points, where Cartesian movements of kinematic device are transformed into rotatory and translatory movements |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9711066B2 (en) | 2009-08-18 | 2017-07-18 | Airway Limited | Endoscope simulator |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5805140A (en) * | 1993-07-16 | 1998-09-08 | Immersion Corporation | High bandwidth force feedback interface using voice coils and flexures |
US5882206A (en) * | 1995-03-29 | 1999-03-16 | Gillio; Robert G. | Virtual surgery system |
IL123073A0 (en) * | 1998-01-26 | 1998-09-24 | Simbionix Ltd | Endoscopic tutorial system |
-
2001
- 2001-09-12 CH CH01683/01A patent/CH696009A5/en not_active IP Right Cessation
-
2002
- 2002-09-12 DE DE20280425U patent/DE20280425U1/en not_active Expired - Lifetime
- 2002-09-12 WO PCT/CH2002/000503 patent/WO2003023736A1/en not_active Application Discontinuation
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008013496A1 (en) | 2008-03-10 | 2009-09-17 | Polydimensions Gmbh | Device for form-fit coupling of multiple instruments to equipment with haptic feedback, comprises coupling function, and combination of friction clutch for repeated taking of parking position is provided |
DE102008013495A1 (en) | 2008-03-10 | 2009-09-24 | Polydimensions Gmbh | Haptic impression producing device for laparoscopic surgical simulation, has upper and lower joints fastened at pivot and working points, where Cartesian movements of kinematic device are transformed into rotatory and translatory movements |
Also Published As
Publication number | Publication date |
---|---|
CH696009A5 (en) | 2006-11-15 |
WO2003023736A1 (en) | 2003-03-20 |
WO2003023736A8 (en) | 2004-06-03 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
R163 | Identified publications notified | ||
R207 | Utility model specification |
Effective date: 20041014 |
|
R150 | Term of protection extended to 6 years |
Effective date: 20051110 |
|
R151 | Term of protection extended to 8 years |
Effective date: 20081027 |
|
R152 | Term of protection extended to 10 years |
Effective date: 20101008 |
|
R071 | Expiry of right | ||
R071 | Expiry of right |