A Force Feedback Device Expandable to Seven Degrees of Freedom

Abstract

The invention discloses a force feedback instrument capable of extending to seven degrees of freedom, which comprises a four-degree-of-freedom force feedback device, a degree-of-freedom extension device and a handle, wherein the four-degree-of-freedom force feedback device and the handle are fixedly connected through thread to form a four-degree-of-freedom force feedback instrument, and the instrument can realize rotation in three directions and axial movement along an operation rod; the four-degree-of-freedom force feedback instrument and the degree-of-freedom extension device are fixedly connected through thread to form a seven-degree-of-freedom force feedback instrument, and the instrument can realize rotation in three directions, movement in three directions and a shearing movement by the scissors handle. The feedback force in each degree of freedom is provided by an independent motor, the force feedback control is accurate, and the controllability is strong. The structure is compact, the four-degree-of-freedom force feedback instrument or the seven-degree-of-freedom force feedback instrument can be selected to be formed according to use requirements, more surgical devices can be simulated, the size is small, and the manufacturing cost is low.

Description

technical field [0001] The invention relates to a human-computer interface device, in particular to a force feedback surgical instrument for virtual simulation of doctor training. Background technique [0002] With the rapid development of virtual reality technology in recent years, it has been widely used in many fields. Such as: applied to the training of surgical interns, interns or other operators or users "manipulate" scalpels or probes in computer-simulated "body" for surgical training, compared to training on traditional human cadaver specimens, The system can provide a more realistic mannequin that can be reused to reduce surgical training costs. Train doctors with actual surgical operation experience and shorten the training cycle. [0003] When conducting virtual surgery training, doctors need real tactile and visual experience, and it is very important to "feel" how much force is needed when instruments such as scalpels or surgical forceps are moved in the human...

AI Technical Summary

Problems solved by technology

Force-feedback experience is usually obtained from force-feedback devices. Currently, the degrees of freedom that can be achieved by relatively successful force-feedback devices are fixed, and cannot be well adapted to certain specific surgical scenarios.

In addition, most of the current force feedback surgical instruments can realize less degrees of freedom, and cannot simulate surgical instruments with complex motion states, and most of the force feedback instruments that can realize multiple degrees of freedom are multi-link mechanisms, and their motion Not stable enough

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