WO2022204869A1 - 一种力反馈装置及其应用 - Google Patents

一种力反馈装置及其应用 Download PDF

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Publication number
WO2022204869A1
WO2022204869A1 PCT/CN2021/083562 CN2021083562W WO2022204869A1 WO 2022204869 A1 WO2022204869 A1 WO 2022204869A1 CN 2021083562 W CN2021083562 W CN 2021083562W WO 2022204869 A1 WO2022204869 A1 WO 2022204869A1
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WO
WIPO (PCT)
Prior art keywords
force feedback
universal joint
permanent magnet
feedback device
coil group
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PCT/CN2021/083562
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English (en)
French (fr)
Inventor
郑海荣
周寿军
温铁祥
林晓峰
Original Assignee
深圳高性能医疗器械国家研究院有限公司
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Application filed by 深圳高性能医疗器械国家研究院有限公司 filed Critical 深圳高性能医疗器械国家研究院有限公司
Priority to PCT/CN2021/083562 priority Critical patent/WO2022204869A1/zh
Publication of WO2022204869A1 publication Critical patent/WO2022204869A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots

Definitions

  • the present application belongs to the technical field of interactive devices, and in particular relates to a force feedback device and its application.
  • Force Feedback is originally a virtual reality technology applied to the military. It uses the reaction force exhibited by the machine to display the game data through the force feedback device, allowing users to experience the game immersive. various effects. It is suitable for many application fields such as virtual meetings, virtual models, maintenance path planning, multimedia and molecular modeling. Force feedback technology can convert the data in the game into effects that users can feel, such as bumps on the road or the reaction force felt by turning the steering wheel. These effects are "played" by the force feedback control chip.
  • Force feedback technology is used to reproduce human perception of environmental force perception.
  • force or touch is the only information carrier that has the ability to transmit information in both directions.
  • force-sensing interactive devices people can truly conduct natural human-machine interaction and information exchange according to human body language.
  • force-feedback devices By applying force-feedback devices, the same sense of motion as when touching actual objects can be obtained, resulting in a more realistic sense of immersion. .
  • the force feedback device needs to simulate the physical process of the real object's force and the reaction force. On the one hand, it obtains the state information of the force exerted by a person on the virtual object through a short rod, such as the information of position or force, and at the same time uses the reference to reflect the physical properties of the contacted object.
  • the model calculates the magnitude and direction of its contact or deformation or possible reaction force, thereby generating a force control signal, and applying the feedback force calculated by the actuator in the device to the human hand, thereby realizing tactile reality in a virtual environment. Tactile reproduction of objects.
  • the present application provides a force feedback device and its application.
  • the present application provides a force feedback device, comprising a first coil group and a second coil group arranged perpendicular to each other, and a space formed by the first coil group and the second coil group is provided with a
  • the permanent magnet is arranged in the joystick, and the permanent magnet is fixedly connected with the joystick.
  • the permanent magnet includes a long axis
  • the first coil group includes a first axis line
  • the second coil group includes a second axis line
  • the first axis The center line and the second axis line form an axis plane
  • the initial position of the long axis is perpendicular to the axis plane
  • the permanent magnet can rotate and swing around the first axis line
  • the permanent magnet can Rotate and swing around the second axis, and the swing is realized by the universal joint assembly.
  • the universal joint assembly includes a first universal joint component, the first universal joint component is connected to the frame through a first bearing, and the first universal joint component is connected to the frame.
  • the first encoder is fixedly connected
  • the second universal joint part is fixed on the first universal joint part through the second bearing, and the second universal joint part can be on the first universal joint part Free rotation
  • the second universal joint member is provided with a transmission belt
  • the transmission belt is connected with a second encoder
  • the second encoder is fixed on the first universal joint member.
  • the joystick includes a first pipe, a guide column is arranged in the first pipe, the guide column is fixedly connected with the fingerboard/fingerboard pair, and the guide column is connected to the fingerboard/fingerboard pair.
  • a transmission rope is connected, and the transmission rope is connected with the force loading assembly through the permanent magnet.
  • the force loading assembly includes a coil spring, a first coupling, a hysteresis brake and a reel connected in sequence, and the reel is connected to the first through the second coupling
  • the three encoders are connected, and the transmission rope is connected with the reel through a first lead assembly and a second lead assembly.
  • the first coil group is arranged on the bobbin
  • the second coil group is arranged on the bobbin
  • the bobbin is arranged in the base
  • the joystick Passing through the base the coil spring is disposed on the base.
  • the joystick includes a puncture connection pipe, the puncture connection pipe is arranged outside the first pipe, and the first pipe is a Teflon pipe.
  • the permanent magnet is a hollow cylinder type.
  • the present application also provides an application of a force feedback device, and the force feedback device is applied to a puncture robot.
  • the force feedback device is communicatively connected to a robot, and the robot is communicatively connected to a main hand terminal.
  • the force feedback device provided in this application is a force feedback device based on the magnetic field of a Helmholtz coil.
  • the force feedback device uses two sets of Helmholtz coils and one permanent magnet to apply torques in two directions to the joystick.
  • the permanent magnets are in the inner diameter of the two sets of coils.
  • the coils can generate a magnetic field.
  • Such a uniform unidirectional magnetic field can make the permanent magnets generate torque in the corresponding direction.
  • the strength of the magnetic field can be controlled, thereby changing the magnitude of the torque.
  • torques in different directions can be synthesized according to the respective magnitudes of the magnetic fields. Since the permanent magnet and the joystick are fixed to each other, the torque exerted on the permanent magnet is directly transferred to the joystick, which is then fed back to the operator's hand.
  • the force feedback device provided in this application adopts the structural design of a long joystick.
  • the initial position of the joystick is vertically upward, which conforms to the general situation in the puncture operation, and makes it easier for the operator to use the operation procedure of the device.
  • the length of the joystick enables the fingerboard/fingerboard pair to have a long movement stroke (greater than 15 cm).
  • a complete puncturing action can be completed in a single stroke of the force feedback device, without the need for repeated operations in a short stroke.
  • the application of the force feedback device provided in the present application can add the function of force feedback to the operation under the requirement of the basic degree of freedom required for the operation, and at the same time reduces the cost of manufacturing such equipment, and is also conducive to reducing the solution of the entire puncture surgery robot system the cost of. This indirectly promotes practitioners in related industries to launch more affordable robot solutions and popularize the operation mode of such robot-assisted surgery.
  • FIG. 1 is a schematic structural diagram of a force feedback device of the present application
  • FIG. 2 is a schematic diagram of the internal structure of the force feedback device of the present application.
  • FIG. 3 is a schematic view of the half-section structure of the force feedback device of the present application.
  • FIG. 4 is a schematic structural diagram of a joystick of the present application.
  • Fig. 5 is the second schematic diagram of the joystick structure of the present application.
  • FIG. 6 is a schematic diagram of the puncture main hand-end system of the present application.
  • the principle of force feedback is to simulate the corresponding force, vibration or passive movement by sensing human behavior, and feed it back to the user.
  • This mechanical stimulus can help us feel the objects in the virtual environment from the force sense touch.
  • the force and torque information fed back to the operator by the force feedback device can be experienced more realistically, so that the operator can feel the force.
  • the reproduction of touch is a process of force feedback, which is realized by using a mechanical device controlled by a computer, a force feedback device, or a haptic interaction device.
  • the force feedback device outputs the feedback force to the user through the driving device, and reproduces the state of the real object when it is touched or subjected to force to the human hand or limb in the form of force to realize the interaction of force sense.
  • the force feedback system is mainly composed of the user, the force feedback device, the main computer and the front-end robot.
  • the force feedback device is a bridge connecting the user and the working environment.
  • its main function is to use the sensor to measure the user's movement and position information during use, and transmit it to the host computer in real time; on the other hand, to receive The force sense or motion signal from the host computer is fed back to the user through the actuator.
  • the main computer is mainly used to generate three-dimensional visual images in the environment, and at the same time complete the calculation of force sense and touch, and realize real-time interaction with user operations.
  • Force feedback technology is widely used in medical, aerospace technology, nanotechnology, training and entertainment.
  • the present application provides a force feedback device, comprising a first coil group 1 and a second coil group 2 arranged perpendicular to each other, and a space formed by the first coil group 1 and the second coil group 2
  • a permanent magnet 3 is arranged inside, the permanent magnet 3 is arranged in the joystick 4 , and the permanent magnet 3 is fixedly connected with the joystick 4 .
  • the device uses two sets of Helmholtz coils and a permanent magnet 3 to apply torque in both directions to the joystick.
  • the relationship between the coil and the permanent magnet 3 must conform to the relationship shown in Figure 8, that is, the two sets of coils are placed at 90 degrees relative to each other, and the entire part of the permanent magnet 3 should be located in the range of a uniform magnetic field (that is, within the inner diameter of the small coil).
  • the permanent magnet 3 needs to be a hollow cylinder, the initial position of its long axis is perpendicular to the axis lines of the two sets of coils, and can rotate and swing around the two axis lines.
  • the structure of a universal joint is used to realize the swing.
  • the permanent magnet 3 is fixed in the joystick and moves together with the joystick.
  • the permanent magnets 3 are in the inner diameters of the two sets of coils. When an excitation current is applied to the coils, the coils can generate a magnetic field. Such a uniform unidirectional magnetic field can allow the permanent magnets 3 to generate torques in corresponding directions. If the magnitude of the current is controlled, the strength of the magnetic field can be controlled, thereby changing the magnitude of the torque. When the two sets of coils simultaneously generate a magnetic field and act on the permanent magnet 3, torques in different directions can be synthesized according to the respective magnitudes of the magnetic fields.
  • the specific operating principle of the system is shown in Figure 7. Since the permanent magnet 3 and the joystick 4 are fixed to each other, the torque exerted on the permanent magnet 3 will be directly transferred to the joystick 4, so as to be fed back to the operator's hand.
  • the permanent magnet 3 includes a long axis
  • the first coil group 1 includes a first axis line
  • the second coil group 2 includes a second axis line
  • the first axis line and the The second axis line forms an axis plane
  • the initial position of the long axis is perpendicular to the axis plane
  • the permanent magnet 3 can rotate and swing around the first axis line
  • the permanent magnet 3 can swing around the The second axis line rotates and swings, and the swing is realized by the universal joint assembly.
  • the universal joint assembly includes a first universal joint part 5, the first universal joint part 5 is connected with the frame 7 through the first bearing 6, and the first universal joint part 5 is connected with the first code.
  • the device 8 is fixedly connected, the second universal joint part 9 is fixed on the first universal joint part 5 through the second bearing 10, and the second universal joint part 9 can be mounted on the first universal joint
  • the part 5 rotates freely, the second universal joint part 9 is provided with a transmission belt 11, the transmission belt 11 is connected with the second encoder 12, and the second encoder 12 is fixed to the first universal joint part 5 on.
  • the shaft of the first encoder 8 is fixed to each other through the coupling and the first universal joint member 5.
  • the first universal joint member 5 rotates, it will also rotate synchronously, so as to measure the rotation angle of the first universal joint member 5. .
  • the joystick 4 includes a first pipe 13, and a guide column 14 is arranged in the first pipe 13, the guide column 14 is fixedly connected with the fingerboard/fingerboard pair 15, and the guide column 14 is connected with the transmission A rope 16 is connected, and the drive rope 16 is connected to the force loading assembly through the permanent magnet 3 .
  • FIG. 4 is a schematic diagram of a part of the joystick 4 and its related structure, showing the layout design of the internal wire transmission of the joystick 4 .
  • the guide post 14 is located inside the first pipe 13 , namely the Teflon pipe, and is fixed with the fingerboard/fingerboard pair 15 .
  • the drive rope 16 is wound in the cylindrical slot above the guide post 14, connected to the structure, and then goes down from the wire routing slot until it passes through the permanent magnet 3, wherein the permanent magnet 3 is a hollow cylinder.
  • the force loading assembly includes a coil spring 17 , a first coupling 18 , a hysteresis brake 19 and a spool 20 connected in sequence, and the spool 20 is connected to the third code through the second coupling 21
  • the transmission rope 16 is connected to the reel 20 through the first lead assembly 23 and the second lead assembly 24 .
  • Figure 5 is a schematic side view of the bottom structure showing a series of structures through which the drive rope 16 passes after it emerges from below. After passing through the permanent magnet 3 , the transmission rope 16 is reversed through the first lead assembly 23 and the second lead assembly 24 to reach the reel 20 .
  • the coil spring 17, the first coupling 18, the hysteresis brake 19, and the spool 20 together constitute a force loading assembly for the wire transmission.
  • the device can control its loading force by controlling the magnitude of the current of the hysteresis brake 19, thereby changing the magnitude of the tension of the transmission rope 16 to exert corresponding force feedback.
  • the left output shaft of the hysteresis brake 19 is connected to the output shaft of the coil spring 17 through the first coupling 18, the reel 20 is fixed on the right output shaft of the hysteresis brake 19, and the measuring shaft of the third encoder 22 passes through
  • the second coupling 21 is connected to the right output shaft of the hysteresis brake 19 .
  • the device can control its loading force by controlling the magnitude of the current of the hysteresis brake 19, thereby changing the magnitude of the tension of the transmission rope 16 to exert corresponding force feedback.
  • the function of the coil spring 17 is to counteract part of the friction torque of the hysteresis brake 19 .
  • the hysteresis brake 19 is a separately available component, a torque control component utilizing the principle of hysteresis.
  • the doctor can set the joystick 4 to the desired position by swinging it, and then perform the puncturing manipulation through the fingerboard/fingerboard pair 15 part shown in FIG. 2 .
  • the attitude of the rod is obtained by the first encoder 8 and the second encoder 12 in FIG. 4 , and the position of the pierced fingerboard/fingerboard pair 15 is driven by the wire, which is obtained by the third encoder in FIG. 5 . 22 obtained.
  • a wire drive principle and a hysteresis brake 19 are used to apply resistance to the piercing process.
  • the rotation and puncture in both directions are equipped with encoders, which can feedback the posture of the joystick 4 and the position of the fingerboard 15 in real time.
  • the device can obtain the posture information on the joystick 4 under the control of the doctor and send it to the robot side, so that the robot can move accordingly according to the posture of the joystick 4; the force sense generated by the robot during the movement or puncture process
  • the information will be sent to the main hand, and the loading force of the hysteresis brake 19 and the magnetic field strength generated by the coil can be controlled by changing the current size, so as to adjust the force applied to the joystick 4, and finally realize the force feeling of the operator.
  • first coil group 1 is arranged on the bobbin 7
  • second coil group 2 is arranged on the bobbin 7
  • the bobbin 7 is arranged in the base 25, and the joystick 4 passes through.
  • the coil spring 17 is disposed on the base 25 through the base 25 .
  • the joystick 4 includes a puncture connection pipe 26, and the puncture connection pipe 26 is disposed outside the first pipe 13, and the first pipe 13 is a Teflon pipe.
  • the permanent magnet 3 is a hollow cylindrical shape.
  • This application proposes a force feedback device based on the magnetic field of Helmholtz coils, as shown in Figure 1.
  • the doctor can set the joystick 4 to the desired position by swinging it, and then puncture through the fingerboard/fingerboard pair 15 component shown in FIG. 2 .
  • the attitude of the rod is obtained by the first encoder 8 and the second encoder 12 in FIG. 4 , and the position of the pierced fingerboard/fingerboard pair 15 is driven by the wire, which is obtained by the third encoder in FIG. 5 . 22 obtained.
  • the doctor swings the joystick 4 , the feedback force of the swing is exerted by the magnetic field force of the magnetic field acting on the permanent magnet 3 installed inside the joystick 4 .
  • the force during puncturing is applied by the hysteresis brake 19 in FIG. 5 .
  • Figure 1 is an outline view of the device. It can be seen that the lower part of the device is the base 25 , and most of the structures are located inside the base 25 . Above the base 25 is a joystick 4 through which the operator can perform force feedback control.
  • the coil spring 17 and its support are mounted on the base 25, and its function is to provide a preload force to counteract the frictional force of the hysteresis brake 19 in the wire drive shown in FIG. 5 when it is not energized.
  • the operator holds the fingerboard/fingerboard pair 15 shown in FIG. 2 with one hand, swings the joystick 4, and pulls down the fingerboard at an appropriate angle to complete the puncturing process.
  • FIG. 2 is a structural diagram in which the base 25 in FIG. 1 is removed.
  • the figure on the left it can be seen that two sets of coils are installed on the bobbin 7, which can generate Helmholtz magnetic fields in two directions respectively. Its magnetic field strength can be adjusted by controlling the magnitude of the current passing through the coil, and a composite magnetic field in any direction on the plane can be generated for the permanent magnet 3 in the middle by the vector combination of the two magnetic fields. resulting in the corresponding torque.
  • the design of the first pipe 13, namely the Teflon pipe is to reduce the frictional force of the fingerboard/fingerboard pair 15 sliding in the pipe and the transmission wire in the wire groove.
  • FIG. 3 is a half cross-sectional view of the base 25 of FIG. 1 , showing the structure inside the frame 7 .
  • the piercing connection pipe 26 and the second universal joint part 9 are threadedly connected.
  • the first bearing 6 , the first universal joint part 5 , the second universal joint part 9 , the second bearing 10 , the second encoder 12 and the transmission belt 11 together form a universal joint.
  • the first universal joint member 5 is connected to the frame 7 through the first bearing 6, and is also fixed to the shaft of the first encoder 8 through a polished rod and a coupling.
  • the second universal joint member 9 is fixed to the first universal joint member 5 through a bearing, and can freely rotate on the first universal joint member 5 .
  • FIG. 5 shows the connection relationship between the transmission belt 11 and the first universal joint member 5 .
  • the second universal joint member 9 rotates relative to the first universal joint member 5
  • this angular displacement will drive the transmission belt 11 to rotate together, and the other end of the transmission belt 11 is connected to a measuring shaft of the second encoder 12.
  • the sheave is connected, so it will drive the measuring shaft to produce corresponding angular displacement together, thereby successfully measuring the rotation angle of the second universal joint member 9 .
  • the second encoder 12 is fixed on the first universal joint part 5 .
  • the two rotation angles of the universal joint can be measured by the first encoder 8 and the second encoder 12 .
  • the present application also provides an application of a force feedback device, and the force feedback device is applied to a puncture robot.
  • the force feedback device is connected in communication with the robot, and the robot is connected in communication with the main hand terminal.
  • the device needs to be used in conjunction with the slave robot.
  • the device can control a 6-DOF puncturing robot together with another 3-DOF space manipulation device (such as Omega.3).
  • the three-axis translation of the robot is controlled by a three-degree-of-freedom manipulation device, and the device may not have force feedback; the posture adjustment and puncturing of the puncturing mechanism use the equipment proposed in this application.
  • the operator holds the 13 fingerboard/fingerboard pair shown in Figure 2 with one hand, swings the joystick, and pulls down the fingerboard at an appropriate angle to complete the puncture process.
  • the puncture main hand end is composed of two modules, which are a three-degree-of-freedom Omega.3 and a puncture manipulation device based on Helmholtz magnetic field and hysteresis brake.
  • Omega.3 provides three degrees of freedom for manipulation. Two directions of rocking control the x-y axis movement of the three-axis cantilever movement module, and the rotational degree of freedom of the rocker controls the rotation of the puncture needle.
  • the Raspberry Pi on the slave side accepts the position and attitude signals from the master-hand side and outputs commands to the actuator (motor) to make the actuator reach the desired position.
  • the actuator motor
  • the pushing resistance and torque of the puncture needle will be collected by the sensor and sent to the main hand.
  • the master hand side processes this signal and maps it to the excitation current of the coil and the hysteresis brake 19, so that the coil and the hysteresis brake 19 generate the desired loading force and feed it back to the master hand side.

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Abstract

一种力反馈装置，包括相互垂直设置的第一线圈组（1）和第二线圈组（2），第一线圈组（1）与第二线圈组（2）形成的空间内设置有永磁体（3），永磁体（3）设置于操纵杆（4）内，永磁体（3）与操纵杆（4）固定连接。当两组线圈同时产生磁场并作用在永磁体（3）上时，根据磁场分别的大小可以合成出不同方向的扭矩。由于永磁体（3）和操纵杆（4）相互固定，在永磁体（3）上施加的扭矩会直接转移给操纵杆（4），从而反馈到操作者的手上。

Description

一种力反馈装置及其应用 技术领域
本申请属于交互设备技术领域，特别是涉及一种力反馈装置及其应用。
背景技术
所谓力反馈(Force Feedback)，本来是应用于军事上的一种虚拟现实技术，它利用机械表现出的反作用力，将游戏数据通过力反馈设备表现出来，可以让用户身临其境地体验游戏中的各种效果。适用于虚拟会议、虚拟模型、维持路径规划、多媒体和分子模型化等诸多应用领域。力反馈技术能将游戏中的数据转化成用户可以感觉到的效果，例如道路上的颠簸或者转动方向盘感受到的反作用力，这些效果都是力反馈控制芯片“播放”出来的。
力反馈技术用于再现人对环境力觉的感知。在人的五大感官中力觉或触觉是人体感官中唯一具有双向传递信息能力的信息载体。借助于力觉交互设备，人们可以真实的按照人类的肢体语言进行人机自然互动和信息交流，通过应用力反馈设备，可以获得和触摸实际物体时相同的运动感，从而产生更真实的沉浸感。
力反馈装置则需要模拟真实物体受力以及产生反作用力的物理过程，一方面获取人通过短棒向虚拟物体施力状态信息，比如位置或着力的信息，同时利用反应被接触物体物理属性的参考模型计算其在接触或发生形变或可能产生的反作用力的大小和方向，由此产生力控信号，并通过装置中的执行器计算出来的反馈力作用到人手，从而在虚拟环境下实现触觉真实物体的触觉再现。
现有的力反馈装置无法满足穿刺手术的操纵自由度要求。同时由于结构复杂和自由度冗余，成本相对来说会比较高，不利于广泛推广应用。
发明内容
1.要解决的技术问题
基于现有的力反馈装置无法满足穿刺手术的操纵自由度要求。同时由于结构复杂和自由度冗余，成本相对来说会比较高，不利于广泛推广应用的问题，本申请提供了一种力反馈装置及其应用。
2.技术方案
为了达到上述的目的，本申请提供了一种力反馈装置，包括相互垂直设置的第一线圈组和第二线圈组，所述第一线圈组与所述第二线圈组形成的空间内设置有永磁体，所述永磁体设置于操纵杆内，所述永磁体与所述操纵杆固定连接。
本申请提供的另一种实施方式为：所述永磁体包括长轴，所述第一线圈组包括第一轴心线，所述第二线圈组包括第二轴心线，所述第一轴心线与所述第二轴心线形成轴心面，所述长轴初始位置与所述轴心面垂直，所述永磁体可绕所述第一轴心线旋转摆动，所述永磁体可绕所述第二轴心线旋转摆动，所述摆动通过万向节组件实现。
本申请提供的另一种实施方式为：所述万向节组件包括第一万向节部件，所述第一万向节部件通过第一轴承与骨架连接，所述第一万向节部件与第一编码器固定连接，第二万向节部件通过所述第二轴承固定于所述第一万向节部件上，所述第二万向节部件可在所述第一万向节部件上自由旋转，所述第二万向节部件上设置有传动带，所述传动带与第二编码器连接，所述第二编码器固定于所述第一万向节部件上。
本申请提供的另一种实施方式为：所述操纵杆包括第一管道，所述第一管道内设置有导向柱，所述导向柱与指板/指板副固定连接，所述导向柱与传动绳连接，所述传动绳穿过所述永磁体与力加载组件连接。
本申请提供的另一种实施方式为：所述力加载组件包括依次连接的卷簧、第一联轴器、磁滞制动器和卷线筒，所述卷线筒通过第二联轴器与第三编码器连接，所述传动绳通过第一引线组件和第二引线组件与所述卷线筒连接。
本申请提供的另一种实施方式为：所述第一线圈组设置于所述骨架上，所述第二线圈组设置于所述骨架上，所述骨架设置于基座内，所述操纵杆穿过所述基座，所述卷簧设置于所述基座上。
本申请提供的另一种实施方式为：所述操纵杆包括穿刺连接管道，所述穿刺连接管道设置于所述第一管道外部，所述第一管道为特氟龙管道。
本申请提供的另一种实施方式为：所述永磁体为空心圆柱型。
本申请还提供一种力反馈装置的应用，将所述的力反馈装置应用于穿刺机器人。
本申请提供的另一种实施方式为：所述力反馈装置与机器人通信连接，所述机器人与主手端通信连接。
3.有益效果
与现有技术相比，本申请提供的力反馈装置及其应用的有益效果在于：
本申请提供的力反馈装置，为基于亥姆霍兹线圈磁场的力反馈设备。
本申请提供的力反馈装置，使用两组亥姆霍兹线圈和一个永磁体来对操纵杆施加两个方向的扭矩。永磁体在两组线圈的内径中，当给线圈施加激励电流时可以让线圈产生磁场，这样的均匀单向磁场可以让永磁体产生相应方向的扭矩。若控制电流的大小则可以控制磁场强 度，从而改变扭矩的大小。当两组线圈同时产生磁场并作用在永磁体上时，根据磁场分别的大小可以合成出不同方向的扭矩。由于永磁体和操纵杆相互固定，在永磁体上施加的扭矩会直接转移给操纵杆，从而反馈到操作者的手上。
本申请提供的力反馈装置，采用的是长操纵杆的结构设计。该操纵杆初始位置垂直向上，符合穿刺手术中的一般情况，能让操作者更容易上手该装置的操作流程。
本申请提供的力反馈装置，其操纵杆的长度使得指板/指板副拥有较长的运动行程(大于15厘米)。在操纵者执行穿刺动作的时候，可以在该力反馈装置的单次行程中完成一个完整的穿刺动作，而无需短行程多次重复操作。
本申请提供的力反馈装置的应用，能够在完成手术所需基本自由度要求下为操作附加力反馈的功能，同时降低了制造该类设备的成本，也有利于降低整个穿刺手术机器人系统解决方案的成本。这间接促进了相关行业的从业者推出更加物美价廉的机器人方案，普及此类机器人辅助手术的手术模式。
附图说明
图1是本申请的力反馈装置结构示意图；
图2是本申请的力反馈装置内部结构示意图；
图3是本申请的力反馈装置半剖结构示意图；
图4是本申请的操纵杆结构示意图；
图5是本申请的操纵杆结构第二示意图；
图6是本申请的穿刺主手端系统示意图；
图7是本申请的力反馈原理示意图；
图8是本申请的力反馈控制原理示意图；
图中：1-第一线圈组、2-第二线圈组、3-永磁体、4-操纵杆、5-第一万向节部件、6-第一轴承、7-骨架、8-第一编码器、9-第二万向节部件、10-第二轴承、11-传动带、12-第二编码器、13-第一管道、14-导向柱、15-指板/指板副、16-传动绳、17-卷簧、18-第一联轴器、19-磁滞制动器、20-卷线筒、21-第二联轴器、22-第三编码器、23-第一引线组件、24-第二引线组件、25-基座、26-穿刺连接管道。
具体实施方式
在下文中，将参考附图对本申请的具体实施例进行详细地描述，依照这些详细的描述，所属领域技术人员能够清楚地理解本申请，并能够实施本申请。在不违背本申请原理的情况下，各个不同的实施例中的特征可以进行组合以获得新的实施方式，或者替代某些实施例中 的某些特征，获得其它优选的实施方式。
力反馈实现的原理就是通过感知人的行为模拟出相应的力、震动或被动的运动，反馈给使用者，这种机械上的刺激可以帮助我们从力觉触觉上感受到虚拟环境中的物体，可以更加真实地体验到力反馈设备反馈给操作者的力及力矩的信息，使操作者能感收到作用力。
触觉的再现是一个力反馈的过程，通过利用由计算机控制的机械装置，及力反馈装置，或触觉交互装置来实现。力反馈装置通过驱动装置向使用者输出反馈的作用力，将真实物体被接触或被受力时的状态以力的形式再现到人的手或肢体上来实现力觉的交互。
从结构上划分，力反馈系统主要有用户、力反馈装置、和主计算机和前端机器人组成。其中，力反馈装置是连接用户和工作环境的桥梁，他的主要功能一方面是利用传感器测量用户在使用个过程中的运动和位置信息，并将其实时传送给主计算机；另一方面，接收来自主计算机的力觉或运动信号，通过执行器件将产生的力感反馈给用户。主计算机主要用来生成环境中的三维视觉图像，同时完成力觉与触觉的计算，实现与用户操作的实时交互。
由于力反馈的出现，在虚拟现实技术中交互设备从听觉、视觉扩展到了力觉方面。力反馈技术被广泛应用到医疗，航空行天技术，纳米技术、培训以及娱乐等方面。
参见图1～8，本申请提供一种力反馈装置，包括相互垂直设置的第一线圈组1和第二线圈组2，所述第一线圈组1与所述第二线圈组2形成的空间内设置有永磁体3，所述永磁体3设置于操纵杆4内，所述永磁体3与所述操纵杆4固定连接。
该设备使用两组亥姆霍兹线圈和一个永磁体3来对操纵杆施加两个方向的扭矩。线圈、永磁体3的关系必须符合如图附8所示的关系，即两组线圈相对呈90度放置，永磁体3整个部件应位于均匀磁场的范围(即小线圈的内径中)。永磁体3需为空心圆柱型，其长轴初始位置与两组线圈的轴心线垂直，并可以绕着两轴心线旋转摆动，此处使用万向节的结构来实现摆动的。永磁体3固定在操纵杆内，与操纵杆共同运动。
永磁体3在两组线圈的内径中，当给线圈施加激励电流时可以让线圈产生磁场，这样的均匀单向磁场可以让永磁体3产生相应方向的扭矩。若控制电流的大小则可以控制磁场强度，从而改变扭矩的大小。当两组线圈同时产生磁场并作用在永磁体3上时，根据磁场分别的大小可以合成出不同方向的扭矩。具体的系统运行原理如图7所示。由于永磁体3和操纵杆4相互固定，在永磁体3上施加的扭矩会直接转移给操纵杆4，从而反馈到操作者的手上。
进一步地，所述永磁体3包括长轴，所述第一线圈组1包括第一轴心线，所述第二线圈组2包括第二轴心线，所述第一轴心线与所述第二轴心线形成轴心面，所述长轴初始位置与所述轴心面垂直，所述永磁体3可绕所述第一轴心线旋转摆动，所述永磁体3可绕所述第二 轴心线旋转摆动，所述摆动通过万向节组件实现。
进一步地，所述万向节组件包括第一万向节部件5，所述第一万向节部件5通过第一轴承6与骨架7连接，所述第一万向节部件5与第一编码器8固定连接，第二万向节部件9通过所述第二轴承10固定于所述第一万向节部件5上，所述第二万向节部件9可在所述第一万向节部件5上自由旋转，所述第二万向节部件9上设置有传动带11，所述传动带11与第二编码器12连接，所述第二编码器12固定于所述第一万向节部件5上。
第一编码器8的轴通过联轴器和第一万向节部件5相互固定，当第一万向节部件5旋转时也会同步旋转，从而测得第一万向节部件5旋转的角度。
进一步地，所述操纵杆4包括第一管道13，所述第一管道13内设置有导向柱14，所述导向柱14与指板/指板副15固定连接，所述导向柱14与传动绳16连接，所述传动绳16穿过所述永磁体3与力加载组件连接。
图4是操纵杆4部分及其相关结构的示意图，展示了操纵杆4内部线传动的布置设计。如图，导向柱14位于第一管道13即特氟龙管道内部，与指板/指板副15相固定。传动绳16缠绕在导向柱14上方的柱状槽中，与该结构相连，并绕后从走线槽下去直至穿过永磁体3，其中永磁体3为空心圆柱体。
进一步地，所述力加载组件包括依次连接的卷簧17、第一联轴器18、磁滞制动器19和卷线筒20，所述卷线筒20通过第二联轴器21与第三编码器22连接，所述传动绳16通过第一引线组件23和第二引线组件24与所述卷线筒20连接。
图5为底部结构的侧向示意图，展示了传动绳16从下方出来后所经过的一系列结构。传动绳16在穿过永磁体3后，通过第一引线组件23和第二引线组件24进换向到达卷线筒20。图中卷簧17、第一联轴器18、磁滞制动器19、卷线筒20共同构成线传动的力加载组件。装置可以通过控制磁滞制动器19的电流大小来控制其加载力，从而改变传动绳16的张力大小来施加相应的力反馈。
其中磁滞制动器19的左输出轴通过第一联轴器18和卷簧17的输出轴相连，卷线筒20固定在磁滞制动器19的右输出轴上，第三编码器22的测量轴通过第二联轴器21和磁滞制动器19的右输出轴相连。装置可以通过控制磁滞制动器19的电流大小来控制其加载力，从而改变传动绳16的张力大小来施加相应的力反馈。卷簧17的作用是抵消磁滞制动器19的部分摩擦力矩。
磁滞制动器19单独为一个可以采购的部件，一种利用磁滞原理的力矩控制部件。
医生可以通过摆动操纵杆4来将其设置到期望的位置，再通过图2中所示的指板/指板副 15部件来进行穿刺操纵。其中杆的姿态是通过图4中的第一编码器8和第二编码器12获得的，穿刺的指板/指板副15所在的位置是通过线传动，由图5中的第三编码器22获得的。
在医生摆动操纵杆4的过程中，摆动的反馈力是通过磁场作用在安装在操纵杆4内部的永磁体3的磁场力来施加的。穿刺过程中的力则是通过图5中的磁滞制动器19来施加的。
使用了线传动原理和磁滞制动器19来对穿刺过程施加阻力。两个方向的旋转和穿刺均配置有编码器，能够实时反馈操纵杆4的姿态和指板15的位置。该设备可以获取在医生控制下的操纵杆4上的姿态信息并将其发送给机器人端，从而使机器人按照操纵杆4的姿态来进行相应的运动；机器人在运动或穿刺过程中产生的力觉信息会发送给主手端，通过改变电流大小来控制磁滞制动器19的加载力和线圈产生的磁场强度，从而调整对操纵杆4施加的力大小，最终实现对操作者的力觉临场感重现。
进一步地，所述第一线圈组1设置于所述骨架7上，所述第二线圈组2设置于所述骨架7上，所述骨架7设置于基座25内，所述操纵杆4穿过所述基座25，所述卷簧17设置于所述基座25上。
进一步地，所述操纵杆4包括穿刺连接管道26，所述穿刺连接管道26设置于所述第一管道13外部，所述第一管道13为特氟龙管道。
进一步地，所述永磁体3为空心圆柱型。
本申请提出了一个基于亥姆霍兹线圈磁场的力反馈设备，如图1所示。医生可以通过摆动操纵杆4来将其设置到期望的位置，再通过图2中所示的指板/指板副15部件来进行穿刺。其中杆的姿态是通过图4中的第一编码器8和第二编码器12获得的，穿刺的指板/指板副15所在的位置是通过线传动，由图5中的第三编码器22获得的。在医生摆动操纵杆4的过程中，摆动的反馈力是通过磁场作用在安装在操纵杆4内部的永磁体3的磁场力来施加的。穿刺过程中的力则是通过图5中的磁滞制动器19来施加的。
电子器件之间的关系相互独立，机械结构之间的关系请参考后面的图片描述。
图1是设备的外形图。可以看到该设备下半部分是基座25，大部分的结构都位于基座25里面。基座25的上方是操纵杆4，操作者可以通过该操纵杆4来进行力反馈控制。卷簧17及其支座被安装在基座25上，其功能是提供预紧力以抵消图5所示线传动中的磁滞制动器19中未通电下自带的摩擦力。
操作时，操作者单手捏持图2所示的指板/指板副15，摆动操纵杆4，并在合适的角度下拉指板，即可完成穿刺过程的动作。
摆动操纵杆4时会带动万向节的转动，该转动可通过分别固定的编码器捕捉到，从而能 测量操纵杆摆动后的姿态信息。
图2是去掉图1中基座25的结构图。左图中可以看出在骨架7上安装有两组线圈，分别可以产生两个方向的亥姆霍兹磁场。其磁场强度可以通过控制通过线圈的电流大小来加以调节，通过两个磁场的向量合成可以给中间的永磁体3产生平面上任意方向的合成磁场。从而产生相应的扭矩。第一管道13即特氟龙管的设计是为了降低指板/指板副15在管道以及传动线在走线槽中滑动的摩擦力。
图3是图1中基座25的半剖视图，展现了骨架7内部的结构。如图，穿刺连接管道26和第二万向节部件9是螺纹连接的。第一轴承6、第一万向节部件5、第二万向节部件9、第二轴承10、第二编码器12、传动带11共同组成一个万向节。第一万向节部件5通过第一轴承6与骨架7连接，同时也通过一根光杆和联轴器与第一编码器8的轴相互固定。第二万向节部件9通过轴承固定在第一万向节部件5上，可以在第一万向节部件5上自由旋转。图5中展示了传动带11和第一万向节部件5的连接关系。当第二万向节部件9相对于第一万向节部件5发生旋转时，这个角位移将会带动传动带11一起旋转，而传动带11的另一端是与第二编码器12测量轴上的一个槽轮相连接的，所以会带动该测量轴一起发生相应角位移，从而成功测得第二万向节部件9的旋转角度。其中第二编码器12固定在第一万向节部件5上。该万向节的两个转动角度可通过第一编码器8和第二编码器12测得。
本申请还提供一种力反馈装置的应用，将所述的力反馈装置应用于穿刺机器人。
进一步地，所述力反馈装置与机器人通信连接，所述机器人与主手端通信连接。
该设备作为主从操作系统的主端设备需要与从端机器人配合使用。如图6所示，该设备可以和另一个三自由度空间操纵设备(比如Omega.3)一起来控制一个六自由度穿刺机器人。其中机器人的三轴平移用的三自由度操纵设备来控制，该设备可以不具备力反馈；穿刺机构的姿态调整和穿刺使用的是本申请所提出的设备。操作时，操作者单手捏持图2所示的13指板/指板副，摆动操纵杆，并在合适的角度下拉指板，即可完成穿刺过程的动作。
穿刺主手端由两个模块组成，分别是一个三自由度的Omega.3和基于亥姆霍兹磁场和磁滞制动器的穿刺操纵装置。Omega.3提供了三个自由度的操纵，两个方向的摇摆控制三轴悬臂移动模组的x-y轴方向运动，摇杆的旋转自由度控制穿刺针的旋转。
对于从端执行机构而言，从端的树莓派接受来自主手端的位置及姿态信号并向执行器(电机)输出指令以使得执行机构到达期望的位置。当进行穿刺动作时，穿刺针所受到的推送阻力和扭矩会被传感器采集并发送给主手端。主手端对这个信号进行处理，并映射到线圈和磁滞制动器19的激励电流上，使线圈和磁滞制动器19产生期望的加载力，反馈给主手端。
如今越来越多研究团队关注并提出了各式各样的穿刺机器人系统。传统的人工操作的穿刺手术中，穿刺的定位精度往往取决于医生的经验水平。即便是有经验的医师，由于软组织的变形和呼吸运动的干扰下，也难以很好地保证稳定的穿刺高精度。这些机器人系统一般是被设计来用于辅助医生进行微创穿刺介入手术如穿刺消融、活检和放射性粒子植入等疗法。由于机器人的结构稳定，它们能在操作多次手术后仍然能够给医生提供稳定的高精度的穿刺定位操作和影像导航，这也有助于减轻术中创伤和缩短预后恢复。
尽管在上文中参考特定的实施例对本申请进行了描述，但是所属领域技术人员应当理解，在本申请公开的原理和范围内，可以针对本申请公开的配置和细节做出许多修改。本申请的保护范围由所附的权利要求来确定，并且权利要求意在涵盖权利要求中技术特征的等同物文字意义或范围所包含的全部修改。

Claims (10)

  1. 一种力反馈装置，其特征在于：包括相互垂直设置的第一线圈组和第二线圈组，所述第一线圈组与所述第二线圈组形成的空间内设置有永磁体，所述永磁体设置于操纵杆内，所述永磁体与所述操纵杆固定连接。
  2. 如权利要求1所述的力反馈装置，其特征在于：所述永磁体包括长轴，所述第一线圈组包括第一轴心线，所述第二线圈组包括第二轴心线，所述第一轴心线与所述第二轴心线形成轴心面，所述长轴初始位置与所述轴心面垂直，所述永磁体可绕所述第一轴心线旋转摆动，所述永磁体可绕所述第二轴心线旋转摆动，所述摆动通过万向节组件实现。
  3. 如权利要求2所述的力反馈装置，其特征在于：所述万向节组件包括第一万向节部件，所述第一万向节部件通过第一轴承与骨架连接，所述第一万向节部件与第一编码器固定连接，第二万向节部件通过所述第二轴承固定于所述第一万向节部件上，所述第二万向节部件可在所述第一万向节部件上自由旋转，所述第二万向节部件上设置有传动带，所述传动带与第二编码器连接，所述第二编码器固定于所述第一万向节部件上。
  4. 如权利要求1所述的力反馈装置，其特征在于：所述操纵杆包括第一管道，所述第一管道内设置有导向柱，所述导向柱与指板/指板副固定连接，所述导向柱与传动绳连接，所述传动绳穿过所述永磁体与力加载组件连接。
  5. 如权利要求4所述的力反馈装置，其特征在于：所述力加载组件包括依次连接的卷簧、第一联轴器、磁滞制动器和卷线筒，所述卷线筒通过第二联轴器与第三编码器连接，所述传动绳通过第一引线组件和第二引线组件与所述卷线筒连接。
  6. 如权利要求5所述的力反馈装置，其特征在于：所述第一线圈组设置于所述骨架上，所述第二线圈组设置于所述骨架上，所述骨架设置于基座内，所述操纵杆穿过所述基座，所述卷簧设置于所述基座上。
  7. 如权利要求5所述的力反馈装置，其特征在于：所述操纵杆包括穿刺连接管道，所述穿刺连接管道设置于所述第一管道外部，所述第一管道为特氟龙管道。
  8. 如权利要求1～7中任一项所述的力反馈装置，其特征在于：所述永磁体为空心圆柱型。
  9. 一种力反馈装置的应用，其特征在于：将权利要求1～8中任一项所述的力反馈装置应用于穿刺机器人。
  10. 如权利要求1所述的力反馈装置，其特征在于：所述力反馈装置与机器人通信连接，所述机器人与主手端通信连接。
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