Five-degree force feedback virtual operation instrument

A technology of virtual surgery and force feedback, applied in the field of medical devices, can solve the problems of no force feedback function, inapplicable surgical scissors, and only one-dimensional force feedback.

Inactive Publication Date: 2008-09-10
SHANGHAI JIAO TONG UNIV
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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 operati

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Embodiment Construction

[0015] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings: this embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following the described embodiment.

[0016] Such as figure 1 , figure 2 As shown, this embodiment includes: a control detection system 40 and a mechanical mechanism 38 .

[0017] Described mechanical mechanism 40 comprises one group of footing 1, bottom plate 33, two columns (second column 3, first column 28), top plate 20, the reduction wheel (the 4th reduction wheel 13, the 4th reduction wheel 13, The 3rd deceleration wheel 19, the second deceleration wheel 26, the first deceleration wheel 31), deceleration arc (the first deceleration arc 2, the 3rd deceleration arc 11, the 4th deceleration arc 14, ...

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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...

Claims

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Application Information

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IPC IPC(8): G09B25/02A61B17/00
Inventor 谢叻李国杰张艳赖芸杨扬宋亚冲马浩博吴峥庄小龙赵志球
Owner SHANGHAI JIAO TONG UNIV
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