Force feedback type needle puncture surgery training simulation device

Abstract

The present invention discloses a force feedback type needle puncture surgery training simulation device. Three direct-current motors are mounted on a mounting chassis through motor supporting seats; the mounting chassis is provided with three angular displacement sensors through sensor supporting seats, wherein the three angular displacement sensors are located beside the three direct-current motors respectively; the output shafts of the direct-current motors are connected with the angular displacement sensors through couplings; the three direct-current motors are connected with a puncture needle through a transmission mechanism; a computer is connected with a USB-CAN interface card; the USB-CAN interface card is connected with a control circuit board and a motor driver; the angular displacement sensors are connected with the control circuit board; the control circuit board is connected with the motor driver; the motor driver is connected with the direct-current motors; and the direct-current motors operate independently so as to drive the puncture needle to move in a simulation manner. According to the device of the invention, the position and attitude of the puncture needle in a movement space can be acquired, corresponding force feedback can be bed back to an operator in real time based on the mechanics model of puncture, and therefore, the effect of puncture simulation training can be improved.

Description

technical field [0001] The invention relates to a needle puncture operation training simulation device, in particular to a force feedback type needle puncture operation training simulation device. Background technique [0002] The traditional surgical training process usually uses animals, human samples, and dummies as implementation carriers, which are often costly and have low material utilization, which to a certain extent inhibits the efficiency and proficiency of medical worker training. In recent years, with the development of virtual reality technology, the simulation system for surgical training has also been more and more researched and applied. Compared with traditional training methods, the surgical simulation system has the characteristics of no damage to equipment and strong repeatability, and can be customized through software according to requirements, and can be targeted to train some surgical procedures that are relatively rare in practice, which can greatly...

AI Technical Summary

Problems solved by technology

Therefore, this type of force feedback device has the phenomenon of resource waste or insufficient resources in terms of degrees of freedom, working range, and response speed, and the cost remains high.

Taking the needle puncture simulation system with force feedback technology as an example, the existing research generally stays in the realization of the series combined link type six-degree-of-freedom force feedback mechanism produced by foreign companies connected to the front end of the puncture needle, but the full-degree-of-freedom series mechanism Means high cost and unfavorable factors such as accumulated errors

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