An endoscope simulation training system with soft force feedback

Abstract

The invention relates to an endoscope simulative training system which is used for simulative training teaching in the minimally invasive surgery and is capable of achieving flexible force feedback. The outer circumference face of a joy stick is designed into the mode of a rack, the rack of the joy stick is meshed with a straight gear, and thus the rectilinear motion of a handle is transformed into the circling motion so that a circular grating rotary encoder coaxially installed with the straight gear in the front-and-back direction can obtain concertina motion parameters of the handle of an instrument by reading parameters. Meanwhile, a grating encoder in the up-and-down direction can read front-and-back operation parameters of a surgical instrument fixing plate, a grating encoder in the horizontal direction can read horizontal rotation parameters of the surgical instrument fixing plate, the motion parameters of the handle in the three degrees of freedom are fed back to a single-chip microcomputer through the three encoders, the single-chip microcomputer substitutes the position parameters of the handle into a surgery simulative scene, the motion of the handle in a virtual human body model is displayed on a display screen, the single-chip microcomputer controls a corresponding electromagnetic brake to conduct braking when the position parameters of the handle are wrong, and the handle is made to generate force feedback.

Description

technical field [0001] The invention belongs to an endoscope simulation training system with soft force feedback used for simulation training teaching in minimally invasive surgery. Background technique [0002] In recent years, minimally invasive surgery represented by laparoscopic technology has risen rapidly, and many traditional operations have begun to use minimally invasive surgical techniques. However, minimally invasive surgery is limited by the small field of vision, lack of tactile sensation, low flexibility of the surgical area, and difficulty in human-machine coordination. Therefore, to reach the level of a professional surgeon, it takes longer study and training than traditional surgery. At the same time, in traditional surgical training, interns often practice on artificial models, cadavers, animals and other objects after demonstrations by experienced doctors. However, the man-made models are not realistic enough, the resources of corpses are limited and exp...

AI Technical Summary

Problems solved by technology

However, in actual use, it is found that the training device has distortion problems. The force feedback needs to be activated after the operating rod touches the inner wall model of the cavity. There is a certain hysteresis, which makes the movement process of the handle lack a sense of reality. At the same time, the movement process of the handle cannot be monitored throughout. The image of the handle will jump and move, which seriously affects the training effect

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