Analog scalpel unit
A scalpel and transfer device technology, which is applied in educational appliances, instruments, teaching models, etc., can solve the problems of differences in shape and operation mode, expensive equipment, and difficulty in meeting the actual needs of a virtual surgical system.
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[0010] Such as figure 2 As shown, a three-dimensional tracking device 10 based on a small-volume, high-precision magnetic sensor is installed on the tip of the system, and the precise position of the tracked scalpel and the posture information of the scalpel are measured by the magnetic sensor.
[0011] Using the invention to perform virtual surgery, when the virtual scalpel is in contact with a virtual human body or a virtual organ, the force feedback device will provide tactile and force feedback to the operator through the virtual scalpel. The force feedback device mainly includes a proportional electromagnet 1, a bracket 2, a return tension spring 3, a sheath 4, a steel wire rope 5, a return compression spring 6, a fixing screw 7, a pressure sensor 8, and a microcontroller 12. The proportional electromagnet 1 of the driving device on the right provides a controllable driving force for the whole system, and the direction of the driving force is to the right. The driving f...
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