Background technology
Endoscope minimally invasive operation intern and basic hospital doctor, be necessary that very much the scope training base with the training qualification that scope examination committee of the Ministry of Public Health is assert gives training, to the cultivation of scope Wicresoft surgical instruments, from picking up scope that time, until last operation terminates, standardize step by step, the standard operation of these program modes seems basis, in fact very necessary, if the custom lasting for years of operation lack of standardization, not only affect medicine equipment quality, the cultivation of the new medicine equipment of doctor's its knowledge skill master is also done harm rather than good.
The Minimally Invasive Surgery training system of current use, mainly from external import, not only expensive in external training system price, its force feedback system realizes mainly through the mode such as motor, gear, true to nature not.When training, when intern or basic hospital doctor operation apparatus, operating theater instruments front end and virtual organ are touched, organ can feed back to operating theater instruments acting force, these devices existing are when providing this feedback force, more stiff, touch the power that organ feeds back when operating with actual operation inconsistent, the feel provided to doctor is not good.Even if some doctor uses this cover system to train, and the various operation that standardizes, but when its practical operation, due to the difference of feel, still there is risk.
Summary of the invention
The object of the present invention is to provide a kind of device for force feedback on Minimally Invasive Surgery training system, fully can contact produced feedback force with organ by sham operated apparatus.
For realizing above object, the technical solution used in the present invention is: a kind of device for force feedback on Minimally Invasive Surgery training system, comprise before and after handle and support handle, up and down, the support of side-to-side movement, displacement transducer is provided with between handle and support, force feedback unit, described displacement transducer is for gathering the positional information of handle and exporting processing unit to, force feedback unit receives the control signal of processing unit output and applies a feedback force by steel wire to handle, the direction that force feedback unit is applied to the feedback force of handle touch with handle before direction of motion contrary.
Compared with prior art, there is following technique effect in the present invention: the feedback of being carried out power here by force feedback unit, include front, back, left, right, up, down six direction, and use steel wire to carry out the transmission of power, the feedback effects of its power is closer to touching feel really, walk the hospitals and to be trained by the Minimally Invasive Surgery training system using this device for force feedback to form, its training effect is better.
Embodiment
Below in conjunction with Fig. 1 to Fig. 6, the present invention is described in further detail.
A kind of device for force feedback on Minimally Invasive Surgery training system, comprise before and after handle 40 and support handle 40, up and down, the support of side-to-side movement, displacement transducer is provided with between handle 40 and support, force feedback unit, described displacement transducer is for gathering the positional information of handle 40 and exporting processing unit to, force feedback unit receives the control signal of processing unit output and applies a feedback force by steel wire to handle 40, the direction that force feedback unit is applied to the feedback force of handle 40 touch with handle 40 before direction of motion contrary, handle 40 touch before direction of motion refer in the direction motion time be about in intracorporeal organ occur touching phenomenon.Support will ensure that handle 40 is in six direction free movement, when trainer's operating grip 40, the positional information of handle 40 is gathered by displacement transducer and outputs in processing unit, processing unit judges whether handle 40 collides with virtual human organ, if collided, then exporting control signal controls to force feedback unit, force feedback unit is to handle 40 1 rightabout power, owing to transmitting feedback force by steel wire between force feedback unit and handle 40, this feedback force is unlikely too stiff, closer to real touching feedback feel, training for promotion effect.Meanwhile, this structure is very simple, easily realizes, and only makes improving slightly just can realize from hardware.
Consult Fig. 1, Fig. 2, Fig. 3, in order to realize the six direction free movement of handle 40, can the means such as universal joint be adopted realize, as preferred version of the present invention, described support comprises base 10, rotary support 20, turnover bracket 30, described rotary support 20 is fixed on base 10 by the first rotating shaft, rotary support 20 around the first rotating shaft at horizontal rotation in surface, described turnover bracket 30 is fixed on rotary support 20 by the second rotating shaft 31, turnover bracket 30 rotates in vertical plane around the second rotating shaft 31, handle 40 comprises guide rod 41, the slippage that described guide rod 41 is formed along bar length direction with the slide rail 32 arranged in turnover bracket 30 coordinates, bar length direction is perpendicular to the second rotating shaft 31.Base 10 realizes the action of handle 40 in horizontal extent with coordinating of rotary support 20, rotary support 20 realizes the action of handle in vertical range with coordinating of turnover bracket 30, guide rod 41 realizes the action of handle along guide rod 41 length direction with coordinating of slide rail 32, non-interference between all directions action, what operate very is flexible; Meanwhile, arrange like this and be more conducive to the setting of force feedback unit: described force feedback unit comprises the first feedback unit arranged between base 10 and rotary support 20, the second feedback unit arranged between rotary support 20 and turnover bracket 30, the 3rd feedback unit that arranges between turnover bracket 30 and guide rod 41.Be described in detail below in conjunction with the structure of the present embodiment to first, second and third feedback unit:
The first rotating disk 12 that the first described feedback unit comprises the first motor 11 be arranged on base 10, is connected with rotary support 20, the axle core of the first motor 11 and the first rotating disk 12 is arranged in parallel, as shown in Figure 6, processing unit exports control signal and controls first motor 11 forward/reverse/stopping, first motor 11 drives the first rotating disk 12 to rotate by the first steel wire 13, described rotary support 20 comprises U-shaped frame 21, fixed mount 22, the bottom of U-shaped frame 21 is fixed on the mandrel 121 at the first rotating disk 12 centre of gyration place, and this mandrel 121 forms the first described rotating shaft.U-shaped frame 21 is directly fixed on the first rotating disk 12, when the first rotating disk 12 rotates, namely drives U-shaped frame 21 to rotate.
Described U-shaped frame 21 top is closing in shape and is provided with flange upward, and flange offers through hole for arranging the second described rotating shaft 31, fixed mount 22 is fixed on the bottom of U-shaped frame 21, the second described feedback unit comprises the second motor 221 be arranged on fixed mount 22, second rotating disk 222, second motor 221, the axle core of the second rotating disk 222 and the second rotating shaft 31 is arranged in parallel, processing unit also exports control signal and controls second motor 221 forward/reverse/stopping, second motor 221 drives the second rotating disk 222 to rotate by the second steel wire 223, second rotating disk 222 drives turnover bracket 30 to swing around the second rotating shaft 31 by toggle, described toggle comprises the crank 224 be hinged, connecting rod 225, crank 224 is connected with the second rotating disk 222, the rod end of connecting rod 225 and the bottom-hinged of turnover bracket 30.After arranging like this, when the second rotating disk 222 rotates, turnover bracket 30 just can be driven to swing around the second rotating shaft 31.
The 3rd described feedback unit comprises the 3rd motor 33 be arranged on turnover bracket 30, the 3rd rotating disk 34 and the 4th rotating disk 35, the axle core of the 3rd motor 33, the 3rd rotating disk 34 and the second rotating shaft 31 is arranged in parallel, processing unit also exports control signal and controls the 3rd motor 33 forward/reverse/stopping, 3rd motor 33 drives the 3rd rotating disk 34 to rotate by the 3rd steel wire 36, third and fourth rotating disk 34,35 coaxial rotation, by the 4th steel wire 37 transmission of drive force between guide rod 41 and the 4th rotating disk 35.
For described above and motor by steel wire drive dial rotation can have numerous embodiments, here provide one comparatively preferred, be also very simple structure simultaneously: the first described steel wire 13 forms loop-like around postponing to the first rotating disk 12 place after the some circles of axle body of the first motor 11 and continuing the axle body place of postponing to the first motor 11 again around the some circles in periphery of the first rotating disk 12; Second and third described steel wire 223,36 is all loop-like layout, and its mode of arranging is consistent with the first steel wire 13, has just repeated no more here.
Consult Fig. 4, Fig. 5, due to rotary support 20, turnover bracket 30 inherently rotates, it implements comparatively easy, but the 3rd feedback unit needs to provide the feedback force consistent with guide rod 41 direction, instead of the feedback force rotated, it implements complicated a little point, it is for reference that the present embodiment provides a kind of scheme comparatively easily realized: the second described rotating shaft 31 is positioned at the middle part of turnover bracket 30, slide rail 32 is positioned at the top of the second rotating shaft 31, before two ends turnover bracket 30 being positioned at slide rail 32 are respectively arranged with, rear wheel 38, 39, here the front wheel 38 said is namely near the pulley of guide rod front end.4th rotating disk 35 is positioned at the below of the second rotating shaft 31, one end of 4th steel wire 37 is fixed on the front end of guide rod 41, and the rear end of guide rod 41 is fixed on successively through front wheel 38, the 4th rotating disk 35, rear wheel 39, the postpone shaft of guide rod 41 of the 4th steel wire 37 between front wheel 38 and guide rod 41 front end and the 4th steel wire 37 between rear wheel 39 and guide rod 41 rear end is arranged; The 4th steel wire 37 between front wheel 38 and the 4th rotating disk 35 and the cross-shaped layout of the 4th steel wire 37 between rear wheel 39 and the 4th rotating disk 35.The 4th steel wire 37 between front wheel 38 and the 4th rotating disk 35 and the 4th steel wire 37 between rear wheel 39 and the 4th rotating disk 35 are also through the second rotating shaft 31.
As preferred version of the present invention: the number of turns that the first described steel wire 13 is looped around the first motor 11 axle body is three circles, the number of turns that the first steel wire 13 is looped around the first rotating disk 12 periphery is three circles; Second and third described steel wire 223,36 is consistent around the number of turns with the first steel wire 13, is also around three circles; The 4th described steel wire 37 is two circles around the number of turns of the 4th rotating disk 35.The transmission effect of how many influence powers of the number of turns, the degree true to nature of feedback force, concrete needs is selected according to the operating effect of reality.In the application, what mainly occur to touch in order to more real simulating handle 40 and organ by steel wire drive non-rigidly contacts, and the feedback force size suffered by handle 40 is then controlled by the rotating speed size of each motor.