Five-degree force feedback virtual operation instrument

Abstract

The invention discloses a virtual surgical instrument with 5-free degree force feedback, which belongs to the field medical training instruments. The invention includes a control detecting system and a mechanical structure which consists of a set of feet, a base board, two columns, a roof, four reduction gears, four reduction arc teeth, four retaining plates, two scissor handles, two parallel guide rods, a set of pull rods, an operating lever, a rolling bearing, an upper beam, a lower beam, a roller and a slide block and five drive actuators. The sensor collects input information of an interactive system such as pose and operating speed of an equipment handle, while drive actuators apply a variety of force and damping effect to an equipment operator. The virtual surgery device with 5-free degree force feedback can realize force feedback function with 5 free degrees, and the allowable human sports joints include the wrist joint, the elbow joint and the shoulder joint of the arm. With the virtual surgical instrument, the operator can perform virtual surgery actions of surgical scissors, a surgical clamp, a scalpel and a surgical abrasion drill, etc.

Description

technical field [0001] The invention relates to a surgical instrument in the technical field of medical instruments, in particular to a five-degree-of-freedom force feedback virtual surgical instrument. Background technique [0002] The development of modern science more and more reflects the intersection and penetration of multiple disciplines. The application of virtual reality in the medical field makes virtual surgery a research direction that is developing. Virtual surgery can help doctors formulate surgical plans; it can also be practiced repeatedly, reducing surgical training costs, and shortening the cycle of training surgeons. Virtual surgery overcomes the lack of operating opportunities and expensive operating objects encountered when training doctors relying on traditional clinical observation practices. The problem is of great significance to the training of medical surgery. One of the important conditions for the implementation of virtual surgery is to provide...

AI Technical Summary

Problems solved by technology

[0003] After searching the literature of the prior art, it was found that the Chinese patent application number: 02118522.0, named: virtual scalpel device, in this patent, a three-dimensional tracking device using a magnetic sensor is used to measure the three-dimensional pose information of the scalpel, and the proportional electromagnet Provide driving force to realize unidirectional feedback force in the cutting direction of the scalpel, but the cost of the three-dimensional tracking device that meets the requirements is high, only one-dimensional force feedback, and cannot be applied to the operation of surgical scissors and forceps, while surgical scissors and forceps The operation of the clip is one of the important operations in many surgical procedures

During the search, it was also found that the Chinese patent application number: 200510027052.9, titled: Multifunctional Virtual Surgical Instrument, this patent uses linear displacement and rotational displacement sensors to collect displacement data, and realizes surgical scissors, forceps by designing a worktable with scissors handle operating rod virtual manipulation of clips and scalpels, but the device does not yet feature force feedback

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