A two-dimensional force-sense interaction device for virtual bone marrow aspiration surgery
A technology of virtual surgery and bone marrow puncture, which is applied in the field of medical devices, can solve the problems of large volume of force interaction device, inability of the driver to accurately simulate the realism and bulkiness of bone marrow puncture surgery, and achieve the effect of improving the stiffness of the device
Active Publication Date: 2017-06-09
SOUTHEAST UNIV
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Problems solved by technology
[0007] Technical problem to be solved: Aiming at the deficiencies of the prior art, the present invention proposes a two-dimensional force-sense interaction device for virtual surgery of bone marrow aspiration, which solves the problem that the force-interaction device in the virtual surgery in the prior art is bulky and bulky. And only a single driver type can not accurately simulate the technical problems of bone marrow aspiration surgery
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[0028] The present invention will be further described below in conjunction with the accompanying drawings.
[0029] Such as figure 1 As shown, a two-dimensional force-sense interaction device for realizing bone marrow aspiration virtual surgery, including a mechanical device and a control system;
[0030] The mechanical device includes a T-shaped operating rod 2, a guide rail slider mechanism and a rectangular rotor 7. The T-shaped operating rod 2 is made of hard aluminum alloy and includes a head cross bar and a guide rod perpendicular to the cross bar. Wherein the end of the guide rod is fixed with a grip handle 1, and both ends of the head bar are embedded with linear bearings 8, the axial direction of the linear bearing 8 is parallel to the direction of the guide rod of the T-shaped operating rod 2, and one part of the rectangular rotor 7 Two sets of opposite sides pass through two linear bearings 8 respectively, and this set of opposite sides is a polished rod made of har...
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The invention discloses a two-dimensional haptic interaction device for realizing a bone marrow aspiration virtual surgery. A passive magnetorheological fluid passive haptic driver is combined with an active motor, thereby realizing active / passive hybrid actuator control. A T-type operation bar is connected with a guide rail sliding block mechanism via a rolling bearing, and therefore, the T-type operation bar can rotate freely and can transfer a force in a linear direction to the sliding block. The T-type operation bar can perform linear non-friction movement on a rectangular rotator and can transfer rotating torque to the rectangular rotator, and therefore, coupling between the linear movement and the rotating movement is completed. The motor and the magnetorheological fluid damper are matched to simulate a damping force and frictional resistance when a bone marrow needle rotates and advances. The haptic interaction device for realizing the bone marrow aspiration virtual surgery has stronger vividness.
Description
technical field [0001] The invention belongs to the field of medical instruments, in particular to a two-dimensional force-sense interaction device for realizing bone marrow puncture virtual surgery. Background technique [0002] Force sense reproduction technology in virtual surgery training is very important. The introduction of force sense reproduction can enable doctors to not only see but also feel surgical organs during training. Doctors can immerse themselves in the virtual world, and through hand and arm movements, interact with The virtual model interacts with the environment to form a complete understanding of the virtual model, and feel the contact and force generated by interacting with the virtual object, just like operating a real object, which undoubtedly makes the training more real, accurate and reliable. During the bone marrow puncture operation, the bone marrow needle advances while rotating, and enters the puncture site vertically. The depth and angle of ...
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IPC IPC(8): G09B9/00G09B23/28
CPCG09B9/00G09B23/28
Inventor 王爱民王昌鹏王坚何有源王恒郑波张勇
Owner SOUTHEAST UNIV