A laparoscopic clamp for virtual simulation training

Abstract

The present invention relates to medical simulation training equipment, and in particular to a laparoscopic clamp for virtual simulation training, comprising a clamp handle assembly, an outer sleeve assembly, a knob assembly, a lower sleeve assembly, a movable deflection rod and a base, wherein the clamp handle assembly comprises a clamp frame, a fixed clamp handle, a movable clamp handle and a clamp handle rotating mechanism, wherein the fixed clamp handle is fixedly connected to the rear side of the clamp frame, and the movable clamp handle is rotationally connected to the fixed clamp handle through the clamp handle rotating mechanism, and a connecting beam frame is fixedly installed on the right side of the bottom of the clamp frame, and the outer sleeve assembly is fixedly connected to the bottom of the connecting beam frame, and a center sleeve assembly is installed on the inner side of the outer sleeve assembly. The present invention can simulate the operating feel of a real clamp through the clamp handle assembly, and simulate the meshing action of a real laparoscopic clamp through the relative movement between the movable clamp handle and the fixed clamp handle.

Description

Technical Field

[0001] The invention relates to medical simulation training equipment, in particular to a laparoscope clamp for virtual simulation training. Background Art

[0002] Laparoscopic surgery is a new type of surgery different from traditional open surgery. During the operation, the body wall does not need to be completely cut open. Instead, a laparoscope is introduced to obtain sufficient surgical space through corresponding operations in the abdominal cavity. Under the guidance of the laparoscope, the patient's abdominal cavity is observed. At the same time, small surgical instruments with long handles are inserted under the guidance of the laparoscope to complete the same surgical operations as traditional surgery. The use of laparoscopic technology can make patients recover faster, the body wall scar is significantly smaller, and the same surgical effect as traditional surgery can be obtained. However, since laparoscopic surgery requires the coordination of multiple operating instruments and is more dependent on auxiliary equipment, new and higher requirements are placed on the operating level of medical staff. Providing surgical training for medical staff and improving the accuracy and proficiency of surgical operations have become urgent problems to be solved in the field of laparoscopic surgery. Specifically, for the clamps commonly used in laparoscopic surgery, in order to improve the proficiency and accuracy of actual medical staff's operations, there is currently no virtual simulation training laparoscopic clamp that can effectively perform multi-degree-of-freedom digital simulation operations. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a laparoscopic clamp for virtual simulation training in view of the deficiencies of the prior art.

[0004] The technical problem to be solved by the present invention is achieved through the following technical scheme. The present invention discloses a laparoscopic clamp for virtual simulation training, including a clamp handle assembly, an outer sleeve assembly, a knob assembly, a lower sleeve assembly, a movable deflection rod and a base. The clamp handle assembly includes a clamp frame body, a fixed clamp handle, a movable clamp handle and a clamp handle rotating mechanism. The fixed clamp handle is fixedly connected to the rear side of the clamp frame body, and the movable clamp handle is rotatably connected to the fixed clamp handle through the clamp handle rotating mechanism. A connecting beam is fixedly installed on the right side of the bottom of the clamp frame body, and the outer sleeve assembly is fixedly connected to the bottom of the connecting beam. A center sleeve is installed on the inner side of the outer sleeve assembly. The sleeve assembly comprises a tube assembly, the upper rotation sleeve of the center sleeve assembly is provided with a knob assembly, the lower rotation sleeve of the center sleeve assembly is provided with the lower sleeve assembly, a sleeve rotation measuring device is provided inside the lower sleeve assembly, the sleeve rotation measuring device is used to detect the relative rotation between the lower sleeve assembly and the center sleeve assembly, the bottom of the lower sleeve assembly is fixedly connected to the upper end of the movable deflection rod, the base is fixedly installed on the ground, the upper part of the base is provided with the sleeve ball head mechanism, the movable deflection rod is inserted in the sleeve ball head mechanism, and the lower end of the movable deflection rod passes through the sleeve ball head mechanism to be connected with the force feedback system.

[0005] Furthermore, a clamp handle rotation detection device is provided inside the clamp handle rotation mechanism, and the clamp handle rotation detection device is used to detect the relative rotation angle between the fixed clamp handle and the movable clamp handle in real time.

[0006] Furthermore, the connecting beam frame adopts an auricle-shaped arch structure, and the inner side of the arch of the connecting beam frame forms an installation space for the knob assembly.

[0007] Furthermore, the central sleeve assembly is inserted into the outer sleeve assembly by interference fit, and the central sleeve assembly is fixedly connected to the outer sleeve assembly by threaded fasteners.

[0008] Furthermore, a knob rotation measuring device is installed on the lower side of the bottom of the clamp frame body, and the knob rotation measuring device is used to detect the relative rotation between the knob assembly and the center sleeve assembly.

[0009] Furthermore, the sleeve ball head mechanism comprises a universal ball head joint mechanism, and a socket is provided on the central sphere of the sleeve ball head mechanism.

[0010] Furthermore, a sliding guide sleeve assembly is provided in the insertion hole, and a hole wall of the sliding guide sleeve assembly is provided with a wear-resistant coating.

[0011] Furthermore, the center sleeve assembly and the knob assembly are rotationally connected via a bearing-type rotating pair to achieve coaxial rotation, and the center sleeve assembly and the lower sleeve assembly are rotationally connected via a bearing-type rotating pair to achieve coaxial rotation.

[0012] Compared with the prior art, the present invention has the following advantages:

[0013] (1) The present invention can simulate the operating feel of real clamps through the clamp handle assembly, and simulate the clamping action of real laparoscopic clamps through the relative movement between the movable clamp handle and the fixed clamp handle. In addition, the force feedback module arranged inside can provide a force feedback process in a virtual environment under the control of the system, thereby improving the force perception effect;

[0014] (2) The present invention utilizes an outer sleeve assembly, a lower sleeve assembly and a knob assembly to form angle control and posture sensing functions. By sensing the movement of the knob assembly, the laparoscopic clamp can actively control the clamp angle in a virtual environment system, and by sensing the relative movement of the sleeve structure, the clamp posture function can be passively sensed.

[0015] (3) The present invention realizes the free movement of the movable deflection rod in three-dimensional space through the sleeve ball head mechanism, which provides good motion constraints for the operation of the clamp and also provides motion support for the force feedback device connected to the bottom end. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0017] Figure 2 The present invention Figure 1 Schematic diagram of the internal structure;

[0018] 1-clamp handle assembly, 11-clamp frame, 111-connecting beam, 12-fixed clamp handle, 13-movable clamp handle, 14-clamp handle rotation mechanism, 2-outer sleeve assembly, 21-center sleeve assembly, 3-knob assembly, 31-knob rotation measuring device, 4-lower sleeve assembly, 41-sleeve rotation measuring device, 5-movable deflection rod, 6-base, 61-sleeve ball head mechanism. DETAILED DESCRIPTION

[0019] like Figure 1-2As shown, the present invention discloses a laparoscopic clamp for virtual simulation training, including a clamp handle assembly 1, an outer sleeve assembly 2, a knob assembly 3, a lower sleeve assembly 4, a movable deflection rod 5 and a base 6. The clamp handle assembly 1 includes a clamp frame body 11, a fixed clamp handle 12, a movable clamp handle 13 and a clamp handle rotating mechanism 14. The fixed clamp handle 12 is fixedly connected to the rear side of the clamp frame body 11, and the movable clamp handle 13 is rotatably connected to the fixed clamp handle 12 through the clamp handle rotating mechanism 14. A connecting beam frame 111 is fixedly installed on the right side of the bottom of the clamp frame body 11, and the outer sleeve assembly 2 is fixedly connected to the bottom of the connecting beam frame 111. The inner side of the outer sleeve assembly 2 is installed with a central sleeve assembly 21. The upper rotation sleeve of the center sleeve assembly 21 is provided with a knob assembly 3, and the lower rotation sleeve of the center sleeve assembly 21 is provided with the lower sleeve assembly 4. A sleeve rotation measuring device 41 is provided inside the lower sleeve assembly 4. The sleeve rotation measuring device 41 is used to detect the relative rotation between the lower sleeve assembly 4 and the center sleeve assembly 21. The bottom of the lower sleeve assembly 4 is fixedly connected to the upper end of the movable deflection rod 5. The base platform 6 is fixedly installed on the ground. The upper part of the base platform 6 is provided with the sleeve ball head mechanism 61. The movable deflection rod 5 is inserted in the sleeve ball head mechanism 61. The lower end of the movable deflection rod 5 passes through the sleeve ball head mechanism 61 and is connected to the force feedback system. The handle rotation detection device is provided inside the clamp handle rotation mechanism 14. At the same time, in order to improve the force feedback effect and simulate the reaction force of clamping different human tissues, the handle rotation mechanism 14 is connected to a force feedback motor. The force feedback motor can be controlled by force sensing signal feedback through a computer virtual simulation system. The handle rotation detection device is used to detect the relative rotation angle between the fixed clamp handle 12 and the movable clamp handle 13 in real time. The connecting beam frame 111 adopts an auricle-shaped arch structure, and the inner side of the arch of the connecting beam frame 111 forms the installation space of the knob assembly 3. The center sleeve assembly 21 is inserted into the outer sleeve assembly 2 by interference fit, and the center sleeve assembly 21 is fixedly connected to the outer sleeve assembly 2 by threaded fasteners. A knob rotation measuring device 31 is installed on the bottom lower side of the clamp frame body 11, and the knob rotation measuring device 31 is used to detect the relative rotation between the knob assembly 3 and the center sleeve assembly 21. The sleeve ball head mechanism 61 includes a universal ball head joint mechanism, and a socket is provided on the central sphere of the sleeve ball head mechanism 61. A sliding guide sleeve assembly is provided in the socket, and the hole wall of the sliding guide sleeve assembly is provided with a wear-resistant coating. The central sleeve assembly 21 and the knob assembly 3 are rotatably connected through a bearing-type rotating pair to achieve coaxial rotation, and the central sleeve assembly 21 and the lower sleeve assembly 4 are rotatably connected through a bearing-type rotating pair to achieve coaxial rotation.

[0020] In actual use, the device is connected to an external force feedback system and a virtual simulation computer display system. The user can operate the clamp handle assembly 1 to simulate real operating actions, and the virtual simulation computer display system can display the opening and closing actions of the virtual clamps. The force feedback system can provide corresponding force feedback for the perception of different human tissues in the virtual image, thereby achieving a real sense of operating force. At the same time, during the spatial movement of the active deflection rod 5, the lower sleeve assembly 4 and the central sleeve assembly 21 are constantly rotating relative to each other. The sleeve rotation measurement device 41 can detect the real-time motion data of the degree of freedom, thereby forming motion posture data, and provide it to the virtual simulation computer display system, thereby forming a virtual simulation motion image. At the same time, in order to actively adjust the posture of the clamp, the movement of the knob assembly 3 can also be reflected on the virtual simulation motion image. Through the pulling action of the active deflection rod 5 relative to the central sphere of the sleeve ball head mechanism 61, the active deflection rod 5 can realize free spatial movement. The posture detection and force feedback process of the active deflection rod 5 can be completed by the externally connected force feedback system and its own corresponding components. For technicians in the relevant field, they can flexibly configure according to actual application needs based on the knowledge of this technical solution without departing from the technical spirit of the technical solution of the present invention.

[0021] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A laparoscopic clamp for virtual simulation training, characterized in that: The tool holder is provided with a plurality of movable jaws, and the movable jaws are connected to the movable jaws through the movable jaws rotating mechanism. The movable jaws are connected to the movable jaws through the movable jaws rotating mechanism. A movable jaws rotating detection device is provided inside the movable jaws rotating mechanism. The movable jaws rotating detection device is used to detect the relative rotation angle between the fixed jaws and the movable jaws in real time. A connecting beam is fixedly installed on the right side of the bottom of the tool holder, and the outer sleeve assembly is fixedly connected to the bottom of the connecting beam. A center sleeve assembly is installed on the inner side of the outer sleeve assembly. The center sleeve assembly is inserted into the inner side of the outer sleeve assembly through an interference fit. The center sleeve assembly is connected to the movable jaws through a threaded fastener. The outer sleeve assembly is fixedly connected, and a knob rotation measuring device is installed on the lower bottom side of the clamp frame body, and the knob rotation measuring device is used to detect the relative rotation between the knob assembly and the center sleeve assembly. The upper rotation sleeve of the center sleeve assembly is equipped with a knob assembly, and the lower rotation sleeve of the center sleeve assembly is equipped with the lower sleeve assembly. A sleeve rotation measuring device is provided inside the lower sleeve assembly, and the sleeve rotation measuring device is used to detect the relative rotation between the lower sleeve assembly and the center sleeve assembly. The bottom of the lower sleeve assembly is fixedly connected to the upper end of the movable deflection rod, and the base is fixedly installed on the ground. A socket ball head mechanism is installed on the upper part of the base, and the movable deflection rod is inserted in the socket ball head mechanism. The lower end of the movable deflection rod passes through the socket ball head mechanism and is connected to the force feedback system.

2. The laparoscopic clamp for virtual simulation training according to claim 1, characterized in that: The connecting beam frame adopts an auricle-shaped arch structure, and the inner side of the arch of the connecting beam frame forms an installation space for the knob assembly.

3. The laparoscopic clamp for virtual simulation training according to claim 1, characterized in that: The sleeve ball head mechanism comprises a universal ball head joint mechanism, and a socket is arranged on the central sphere of the sleeve ball head mechanism.

4. The laparoscopic clamp for virtual simulation training according to claim 3, characterized in that: A sliding guide sleeve assembly is arranged in the insertion hole, and a wear-resistant coating is arranged on the hole wall of the sliding guide sleeve assembly.

5. The laparoscopic clamp for virtual simulation training according to claim 1, characterized in that: The central sleeve assembly and the knob assembly are rotationally connected via a bearing-type rotating pair to achieve coaxial rotation, and the central sleeve assembly and the lower sleeve assembly are rotationally connected via a bearing-type rotating pair to achieve coaxial rotation.

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