WO2016182477A1 - Mechanism for generating a force on a simulator of a medical apparatus - Google Patents

Mechanism for generating a force on a simulator of a medical apparatus Download PDF

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Publication number
WO2016182477A1
WO2016182477A1 PCT/RU2016/000268 RU2016000268W WO2016182477A1 WO 2016182477 A1 WO2016182477 A1 WO 2016182477A1 RU 2016000268 W RU2016000268 W RU 2016000268W WO 2016182477 A1 WO2016182477 A1 WO 2016182477A1
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WO
WIPO (PCT)
Prior art keywords
motor
mechanism
stator
simulator
rotor
Prior art date
Application number
PCT/RU2016/000268
Other languages
French (fr)
Russian (ru)
Inventor
Ленар Наилевич ВАЛЕЕВ
Рамиль Хатямович ЗАЙНУЛЛИН
Владимир Александрович АНДРЯШИН
Александр Алексеевич ЛИТВИНОВ
Рамиль Талгатович ГАЙНУТДИНОВ
Александр Викторович ЛУШАНИН
Артур Раисович ВАЛЕЕВ
Вагиз Камильевич ЯГАФАРОВ
Леонид Анатольевич КОРНИЛОВ
Алексей Леонидович ЛАРИОНОВ
Original Assignee
Общество с ограниченной ответственностью "Эйдос-Медицина"
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority to RU2015117826 priority Critical
Priority to RU2015117826A priority patent/RU2639800C2/en
Application filed by Общество с ограниченной ответственностью "Эйдос-Медицина" filed Critical Общество с ограниченной ответственностью "Эйдос-Медицина"
Publication of WO2016182477A1 publication Critical patent/WO2016182477A1/en

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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • GPHYSICS
    • G09EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09BEDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B23/00Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/28Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine

Abstract

A mechanism for generating a force on a medical apparatus simulator provides reciprocal tactile sensations during manipulation by the medical apparatus simulator in medical training simulators of endoscopic surgery. The mechanism contains devices for linear, rotary and angular movements of the apparatus, with sensors for tracking the movements of the apparatus. The linear movement device is designed in the form of a linear electromagnetic motor having a medical apparatus simulator with magnets inside accommodated therein. The rotary and angular movement devices are designed in the form of a base, on which a stator of a first motor is secured, the rotor of said first motor having attached thereto a bracket having a stator of a second motor secured thereon, the rotor of said second motor having a linear electromagnetic motor attached thereto. The first motor and the second motor are electromagnetic motors with a controllable magnetic field of a stator, and are connected to a unit for controlling the motors. The technical result is the creation of a mechanism which makes it possible to generate a uniform force and retain the axes of freedom of the mechanism in a specified position.

Description

 Mechanism of generating effort on a medical simulator

 instrument

The technical field The invention relates to medical equipment, to a device providing inverse tactile sensations when manipulating a simulator of a medical instrument. The mechanism can be used in medical simulators of endoscopic surgery, in modeling virtual medical intervention, where the surgeon performs a surgical training operation in a simulated environment, operating with simulators of medical instruments similar to real instruments.

State of the art

Known patent (US 8764448 B2, 09/01/2010), "Robotic device for use in image-guided robot assisted surgical training))," Robotic device for use in surgical robot-assisted training under visual control ". A robotic device for use in surgical robot-assisted training under visual control, a robotic device combines the structure of a manual interface designed to simulate the management of a surgical instrument; translational mechanism of translational movement of the structure of the manual interface; rotational mechanism of the rotational movement of the structure of the manual interface; and a spherical mechanism for separating the orientation of the structure of the manual interface into spatial coordinates, where the connection between the rotational mechanism, the rotational mechanism and the spherical the mechanism and structure of the manual interface are located on opposite sides of the intersection of the transverse axis and the vertical axis of the spherical mechanism.

Known patent (US 7023423 B2, 01/18/1995), laparoscopic simulation interface)), "Laparoscopic simulation interface." Method and apparatus for providing a high range of operating frequencies and low-frequency noise of mechanical input-output of computer systems. The articulated mechanism provides two rotational degrees of freedom for the object with respect to two axes of rotation. The linear axis element is connected to the articulated mechanism at the intersection point of the two rotation axes. The linear axis element can be moved along the third axis to provide a third degree of freedom. The user-defined object is associated with a linear axis element, and thus can be moved along the third axis, so that the object can be moved along all three degrees of freedom. Transducers associated with the degrees of freedom provided include sensors and actuators and provide an electromechanical interface between the facility and the digital processing system. The driving axis drives the transmitted force of the mechanisms between the transducers and the object. The linear axis element can also rotate about its longitudinal axis to provide a fourth degree of freedom, and, in some cases, an articulated mechanism not fixed to the axis is connected to the linear axis element to provide the fifth and sixth degrees of freedom of the object. The transducer sensors are connected to the fourth, fifth and sixth degrees of freedom. The interface is suitable for simulating medical procedures and simulations in which an object, such as a stylus or joystick, moves and is controlled by the user.

The well-known “Mechanism for generating feedback tactile feedback on an instrument by force” taken by us as a prototype (patent for useful Model RU 139350). The mechanism comprises devices of linear, rotational and angular movements of the instrument with sensors for tracking the movements of the instrument to provide tactile sensations. A bracket is mounted on a box-shaped base of rectangular cross section, which is fixedly mounted on a vertical rotation shaft, interacting with a flexible connection with an engine installed inside the base. And in the upper part of the bracket there is a shaft with a pulley connected by a flexible connection to the motor on the bracket, while on the side surface of the pulley a linear electromagnetic motor is fixed, with a tubular tool inside with magnets inside. The disadvantage of this mechanism is the uneven effort generated by the medical tool on the simulator, there is no possibility of holding the axes of freedom of the mechanism in a given position, the disadvantage is the use of collector motors in the mechanism, the presence of gearboxes and transition mechanisms between the engines and the freedom axis.

Disclosure of invention

 The technical task is to create a mechanism for generating efforts on the simulator of a medical instrument that allows you to generate uniform force and keep the axis of freedom of the mechanism in a given position, eliminating the phenomenon of uneven force on the simulator of a medical instrument during operation.

The technical problem to be solved is in the mechanism for generating the force on the simulator of a medical instrument, comprising linear, rotational and angular movements of the instrument with sensors for tracking the movements of the instrument, where the linear displacement of the instrument is made in the form of a linear electromagnetic motor with an inside simulator a medical tool with magnets inside is achieved by the fact that the device for rotational and angular movement of the tool is made in the form of a base on which the stator of the first engine is fixed, to the rotor of which is attached a bracket with a stator of the second motor fixed to it, to the rotor of which is connected a linear electromagnetic motor connected to the block motor control, the first motor and the second motor are electromagnetic motors with a controlled magnetic field of the stator and are connected to Locke motor control.

 Brief Description of the Drawings

 Figure 1 presents a General view of the mechanism for generating efforts on a simulator of a medical instrument.

 The implementation of the invention

 The mechanism for generating a force on the simulator of a medical instrument contains a base 1 on which the stator of the first engine 2 is fixed, to the rotor 3 of which the bracket 4 is attached. On the bracket 4 is fixed the stator of the second motor 5, to the rotor 6 of which is attached a linear electromagnetic motor 7 with a tool tracking sensor (not shown) and a medical tool simulator installed inside it 8. The engine control unit 9 is mounted on the base 1. The tool tracking sensors 10, 1 1 are mounted on the base 1 and on the bracket 4, respectively, and are connected to the engine control unit 9. The first engine, the second engine and the linear electromagnetic motor 7 are connected to the engine control unit 9.

The first and second motors are made in the form of motors with a controlled magnetic field of the stator (valve motor). In valve motors, the microprocessor controls the currents in the stator windings by controlling power switches (valves). The microprocessor analyzes the information from the rotor position sensors and, due to the PWM signal and power key control, supplies the necessary voltage to the stator coils, thus controlling the stator magnetic field vector so as to maintain the maximum rotor torque. Electronic control of the stator magnetic field vector allows at any time to maintain the same force on the rotor when it rotates, unlike collector motors, where the stator coils are mechanically switched, as a result of which the rotor forces are uneven at every moment of time. Also, controlling the stator magnetic field vector allows you to keep the axis of freedom of the mechanism in a predetermined position, while setting the stator magnetic field vector to a constant direction, the rotor rotates in accordance with the set stator magnetic field vector and remains in this position, which is not possible in collector motors.

A description of the operation and control of valve motors is published in the following sources: German-Galkin S.G. Chapter 9. Model design of synchronous mechatronic systems // Matlab & Simulink. Design of mechatronic systems on a PC. — SPb .: KORONA-Vek, 2008. — 368 pp. — ISBN 978-5-903383-39-9; Bortsov Yu.A., Sokolovsky G.G. Chapter 8. Adaptive-modal control in servo systems with contactless torque motors // Automated electric drive with elastic connections. - 2nd ed., Revised. and additional - St. Petersburg: Energoatomizdat, 1992. - 288 s - ISBN 5-283-04544-7; Sokolovsky G. G. Electric drives of alternating current with frequency regulation. - M.: "Academy", 2006.— 272 s. - ISBN 5-7695-2306-9. Mikerov A.G. Controlled valve motors of low power: Textbook. - SPb: SPbGETU, 1997.— 64с. The first and second motors are made in the form of a brushless synchronous three-phase motor, which is a stator magnetic field controlled motor, model iPower GBM8108-90T from iFlight-RC Ltd (http://www.iflight-rc.com). The tool tracking sensors 10, 1 1 are made on the basis of the linear encoder model AS531 1 of the company AMS AG (http: // www. Ams.com). The engine control unit 9 is based on a microprocessor.

Consider in the work the mechanism of generating effort on a simulator of a medical instrument. During work, the student makes manipulations with the simulator of the medical instrument 8 installed in the mechanism, performing a surgical training operation in a virtual environment simulated, for example, by a computer (not shown), while the position of the simulator of the medical instrument 8 is synchronized with the position of the virtual instrument. A simulator of a medical instrument 8 is installed in the mechanism, its position is monitored in three coordinates by sensors for tracking the tool 10, 1 1 and a sensor for tracking the tool (not shown) in a linear electromagnetic motor 7 and is used to build a virtual picture of the operation. With the engines turned off, the medical instrument simulator 8 moves freely in three coordinates, due to the free rotation of the rotor of the first motor 3, the rotor of the second motor 6 and linear displacement in the linear electromagnetic motor 7, only the position of the medical instrument simulator 8 is tracked. When the virtual medical instrument interacts with object in a simulated environment (with a virtual organ, other instrument or other) computer (not shown) sends to the engine control unit 9 a signal about direction and magnitude of effort, control unit motors 9 supplies a control voltage to the stator of the first motor 2, the stator of the second motor 5 or the linear electromagnetic motor 7, while a force is generated on the simulator of the medical instrument 8 that prevents the tool from moving. When a control voltage is applied to the stator of the first engine 2, the base 1 and the stator of the first engine 2 remain stationary, and the rotor of the first engine 3 starts to rotate together with the bracket 4, the second motor and the linear electromagnetic motor 7, thus simulating the force on the simulator medical instrument 8. When a control voltage is applied to the stator of the second motor 5, the rotor of the second motor 6 begins to rotate together with the linear electromagnetic motor 7, thus simulating the force on the simulator of the medical instrument 8. When a control voltage is applied to the linear electromagnetic motor 7, the simulator of the medical instrument 8 with magnets inside begins to translate along the axis of the linear electromagnetic motor 7, thereby simulating the force on the simulator of the medical instrument 8. Due to the fact that the first and second motors are motors with a controlled magnetic field of the stator, as well as the absence of transitional mechanisms between the motor and the axis of rotation ( esterenok or flexible coupling) force which they produce on the medical instrument 8 simulator will be uniform.

Let us consider the operation algorithm of the engine control unit 9. The first and second engines are calibrated by applying a control voltage to the stator of the first 2 and the stator of the second 5 engine with a discrete step, they rotate the magnetic field vector of the stator of each engine, after which the rotor of the corresponding engine rotates, during rotation log values from the sensors for tracking the tool 10 and 11 for the first and second motor, respectively, as a result, for each motor an array of correspondence of the values of the "position of the stator magnetic field" with the "position of the rotor" is formed. An array of correspondence between the values of the “position of the stator magnetic field” and the “position of the rotor” allows precise control of the engine and at any time to create the necessary direction and magnitude of force on the motor rotor. The engine control unit 9 receives information about the position of the rotor of the first 3 and second 6 engines from the sensors for tracking the tool 10 and 11, using an array of matching values of the "position of the magnetic field of the stator" with the "position of the rotor" supplies the control voltage to the stator of the first 2 or stator of the second 5 engine, so that on the rotor of the first 3 or rotor of the second 6 engine, respectively, a torque occurs, to create a force on the simulator of the medical instrument 8. The engine control unit 9 receives information from a tracking sensor (not shown) in the linear electromagnetic motor 7 about the position of the medical tool simulator 8 inside the linear electromagnetic motor 7. The engine control unit 9 supplies the control voltage to the linear electromagnetic motor 7, the coils inside the engine generate a magnetic field that interacts with the magnets inside the medical simulator tool 8, thus creating a force on the simulator of a medical tool 8.

The retention of the axes of freedom of the mechanism in a given position is as follows. The engine control unit 9 receives information about the position of the rotor of the first 3 and the rotor of the second 6 engines from the sensors for tracking the tool 10 and 1 1, respectively, using the array of matching values of the "position of the magnetic field of the stator" with the "position of the rotor" the engine control unit 9 feeds the control voltage to the stator coils of the first 2 or stator of the second 5 engine, so that the position of the stator magnetic field corresponds to the current position of the rotor, while fixing the position of the stator magnetic field, as a result, there is no torque at the moment of rotation of the motor, it occurs when you try to rotate the rotor in one or the other direction from the specified position, when manipulating the simulator of a medical instrument 8. When the rotor of the first 3 or rotor of the second 6 engine is strongly deflected, predetermined position, motor 9, the control unit delivers a control voltage to the motor stator tends to rotate the rotor to a predetermined position. To hold the simulator of the medical instrument 8 inside the linear electromagnetic motor 7, the engine control unit 9 captures information from the instrument tracking sensor (not shown) about the position of the simulator of the medical instrument 8 and, when displaced relative to the fixed position, supplies a control voltage to the linear electromagnetic motor 7 so that return the simulator of the medical instrument 8 to a predetermined position. Keeping the axes of freedom of the mechanism in a predetermined position allows you to simulate the force on the simulator of a medical instrument 8, which occurs when a medical instrument grabs an object in a virtual environment, which cannot be done using collector engines.

The mechanism for generating the force on the simulator of a medical instrument contains motors with a controlled stator magnetic field, the precise control of which makes it possible to generate uniform force on the simulator of a medical instrument and keep the axis of freedom of the mechanism in a predetermined position.

Claims

 Claim
A mechanism for generating a force on a medical tool simulator containing linear, rotational and angular tool movements with instrument movement tracking sensors, where the tool linear motion device is made in the form of a linear electromagnetic motor with a medical tool simulator placed inside with magnets inside, characterized in that and angular movement of the tool is made in the form of a base on which the stator of the first engine is fixed , to the rotor of which is attached a bracket with a stator of a second engine fixed to it, to the rotor of which is attached a linear electromagnetic motor connected to the engine control unit, while the first engine and the second engine are electromagnetic motors with a controlled magnetic field of the stator and connected to the engine control unit.
PCT/RU2016/000268 2015-05-12 2016-05-04 Mechanism for generating a force on a simulator of a medical apparatus WO2016182477A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
RU2015117826 2015-05-12
RU2015117826A RU2639800C2 (en) 2015-05-12 2015-05-12 Mechanism for effort generation on medical instrument simulator

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Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU181387U1 (en) * 2017-11-29 2018-07-11 Общество с ограниченной ответственностью "Эйдос-Медицина" Ventriculoscope simulator
RU2679110C1 (en) * 2017-11-29 2019-02-05 Общество с ограниченной ответственностью "Эйдос - Медицина" Ventriculoscope simulator

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020018046A1 (en) * 1995-01-18 2002-02-14 Immersion Corporation Laparoscopic simulation interface
RU128762U1 (en) * 2012-11-13 2013-05-27 Общество с ограниченной ответственностью "Эйдос-Медицина" Hybrid medical simulator laparoscopy
US20130224710A1 (en) * 2010-09-01 2013-08-29 Agency For Science, Technology And Research Robotic device for use in image-guided robot assisted surgical training
RU139350U1 (en) * 2013-12-16 2014-04-20 Общество с ограниченной ответственностью "Эйдос-Медицина" Tactical feedback generation mechanism for effort tool

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020018046A1 (en) * 1995-01-18 2002-02-14 Immersion Corporation Laparoscopic simulation interface
US20130224710A1 (en) * 2010-09-01 2013-08-29 Agency For Science, Technology And Research Robotic device for use in image-guided robot assisted surgical training
RU128762U1 (en) * 2012-11-13 2013-05-27 Общество с ограниченной ответственностью "Эйдос-Медицина" Hybrid medical simulator laparoscopy
RU139350U1 (en) * 2013-12-16 2014-04-20 Общество с ограниченной ответственностью "Эйдос-Медицина" Tactical feedback generation mechanism for effort tool

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RU2639800C2 (en) 2017-12-22

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