Laparoscopic surgery simulator

Abstract

The present invention discloses a laparoscopic surgery simulation device, comprising: a frame, including a bottom plate; a delta parallel mechanism, including a base, a motion platform located above the base, and an actuator arranged between the base and the motion platform, the actuator comprising a first servo motor and a branch chain, one end of the branch chain is movably connected to the base, and the other end is movably connected to the motion platform, the first servo motor is arranged on the base and is transmission-connected to the branch chain, and the tail of the first servo motor is provided with a first angle detection element; a connecting mechanism, including a mounting seat, a posture acquisition module arranged on the mounting seat, and a series mechanism arranged between the mounting seat and the motion platform, the mounting seat can rotate relative to the motion platform and can swing back and forth and left and right relative to the motion platform; surgical instruments are detachably arranged on the mounting seat. The above-mentioned laparoscopic surgery simulation device can replace different surgical instruments according to actual needs to simulate different surgeries, and has high versatility.

Description

Technical Field

[0001] The invention relates to the technical field of medical instruments, and in particular to a laparoscopic surgery simulation device. Background Art

[0002] In the prior art, laparoscopic surgery is a typical minimally invasive surgery that only requires a few small incisions in the patient's abdomen, and then the surgical instruments are inserted into the patient's abdominal cavity through these small incisions. Compared with traditional surgery, laparoscopic surgery has the advantages of small incisions and fast postoperative recovery. However, since the operation of this type of surgery is extremely complicated, doctors need to undergo a lot of training. Traditional laparoscopic surgery training requires the use of human or animal models, which has high training costs and faces ethical issues. In order to solve this problem, there are some laparoscopic surgery simulation devices for laparoscopic surgery training on the market. However, most of these laparoscopic surgery simulation devices cannot replace surgical instruments, and the surgeries that can be simulated are limited, and their versatility is low. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a laparoscopic surgery simulation device, which can replace different surgical instruments to simulate different surgeries and has high versatility.

[0004] According to an embodiment of the present invention, a laparoscopic surgery simulation device comprises: a frame, the frame comprises a bottom plate; a delta parallel mechanism, the delta parallel mechanism comprises a base, a motion platform and an actuator, the base is arranged on the bottom plate, the motion platform is located above the base, the actuator is arranged between the base and the motion platform, the actuator comprises three first servo motors and three branch chains arranged at intervals, one end of the branch chain is movably connected to the base, and the other end of the branch chain is movably connected to the motion platform, the first servo motor is arranged on the base, the three first servo motors are correspondingly connected to the three branch chains in a one-to-one transmission manner, and the tail of each first servo motor is provided with a first angle detection element; a connecting mechanism, the connecting mechanism comprises a mounting seat, a posture acquisition module and a series mechanism, the posture acquisition module is arranged on the mounting seat, the series mechanism is arranged between the mounting seat and the motion platform, the series mechanism comprises a support, a first connecting member, a first connecting member and a second connecting member. A connecting member, a second connecting member and a cross axis, the supporting member comprises a first horizontal plate and two first vertical plates spaced apart at the top of the first horizontal plate, the first horizontal plate is fixedly arranged on the moving platform, the first connecting member is located above the supporting member, the first connecting member comprises a second horizontal plate and two second vertical plates spaced apart at the bottom of the second horizontal plate, the supporting member and the first connecting member are arranged orthogonally, the four ends of the cross axis are rotatably connected to the two first vertical plates and the two second vertical plates in a one-to-one correspondence, the second connecting member is located above the first connecting member, the second connecting member comprises a third horizontal plate and a first connecting axis arranged at the bottom of the third horizontal plate, the third horizontal plate is fixedly arranged at the bottom of the mounting seat, and the first connecting axis is rotatably connected to the second horizontal plate; a surgical instrument, the surgical instrument is detachably arranged on the mounting seat; wherein the first servo motor, the first angle detection element and the posture acquisition module are all connected to an external computer.

[0005] The laparoscopic surgery simulation device according to the embodiment of the present invention has at least the following beneficial effects: when in use, the host of the external computer first calculates and obtains the position of the surgical instrument through the data collected by the first angle detection element, and calculates and obtains the posture of the surgical instrument through the data collected by the posture acquisition module, thereby updating the position and posture of the surgical instrument in the virtual environment displayed on the display of the external computer, and then the host of the external computer calculates the required feedback torque according to the contact between the surgical instrument and the virtual organ in the virtual environment, and finally transmits the required feedback torque to the surgical instrument through the delta parallel mechanism, thereby simulating force feedback during surgery, wherein the series mechanism enables the surgical instrument to rotate relative to the motion platform and to swing back and forth and left and right relative to the motion platform, and can better adapt to the requirements of different surgical instruments for posture adjustment. At the same time, the surgical instrument can be detachably arranged on the mounting seat, and different surgical instruments can be replaced according to actual needs to simulate different surgeries, and it has high versatility.

[0006] According to some embodiments of the present invention, the frame also includes an outer frame, the base plate is arranged at the inner bottom of the outer frame, a second servo motor is arranged on the mounting seat, the output shaft of the second servo motor is arranged upward, a second angle detection element is arranged at the tail of the second servo motor, and the second servo motor and the second angle detection element are both connected to an external computer, the surgical instrument includes a scissors mechanism, the scissors mechanism includes a fixed handle, a movable handle, a transmission mechanism and a first limiting mechanism, the movable handle is hinged to the fixed handle, a mounting portion is arranged at the end of the fixed handle, a mounting groove is arranged on the mounting portion, a cover body is arranged on the mounting portion corresponding to the mounting groove, the transmission mechanism includes a transmission shaft, a transmission rope, a winding wheel and a first coupling, the transmission One end of the shaft is connected to the output shaft of the second servo motor through the first coupling, and the other end of the transmission shaft is rotatably connected to the mounting portion, and the transmission shaft is partially located in the mounting groove, and the winding wheel is sleeved on the portion of the transmission shaft located in the mounting groove and is linked with the transmission shaft, the transmission rope is wound around the winding wheel, and the end of the transmission rope is connected to the movable handle so that the winding wheel can be driven to rotate when the movable handle is rotated, and the portion of the transmission shaft located outside the mounting groove is sleeved with a sleeve, one end of the sleeve is connected to the mounting portion, and the other end of the sleeve is detachably connected to the mounting seat, and the first limiting mechanism is arranged between the sleeve and the outer frame, and the first limiting mechanism is used to limit the range of movement of the scissors mechanism.

[0007] According to some embodiments of the present invention, the first limiting mechanism includes a bracket, a rectangular limiting frame and a guide cylinder, the bracket includes an L-shaped connecting portion and a supporting portion vertically arranged on the L-shaped connecting portion, the L-shaped connecting portion is detachably arranged on the top of the outer frame, the number of the brackets is two, the two brackets are spaced and arranged opposite to each other, a second connecting shaft is arranged on the outer side of one pair of opposite sides of the rectangular limiting frame, the axes of the two second connecting shafts are collinear, the axes of the second connecting shafts are parallel to one of the axes of the cross shafts, and the ends of the two second connecting shafts are rotatably connected to the two supporting portions in a one-to-one manner, the guide cylinder is sleeved on the sleeve and located in the rectangular limiting frame, a third connecting shaft is arranged on the opposite sides of the guide cylinder, the axes of the two third connecting shafts are collinear, the axes of the third connecting shafts are parallel to the other axis of the cross shaft, and the ends of the two third connecting shafts are rotatably connected to the other pair of opposite sides of the rectangular limiting frame in a one-to-one manner.

[0008] According to some embodiments of the present invention, the scissors mechanism further comprises a tension spring, wherein the tension spring is arranged between the transmission rope and the movable handle, one end of the tension spring is connected to the end of the transmission rope, and the other end of the tension spring is connected to the movable handle.

[0009] According to some embodiments of the present invention, an adjusting knob is rotatably provided on the mounting portion, the adjusting knob has a transmission portion extending into the mounting slot, a third angle detection element is provided in the mounting slot, a first transmission gear is fixedly provided on the transmission portion, a second transmission gear meshing with the first transmission gear is provided on the third angle detection element, and the third angle detection element is connected to an external computer.

[0010] According to some embodiments of the present invention, the first angle detection element and the second angle detection element are magnetoresistive encoders, and the third angle detection element is a miniature angle sensor.

[0011] According to some embodiments of the present invention, the surgical instrument also includes a puncture needle mechanism for replacing the scissors mechanism, the puncture needle mechanism includes a puncture needle, a sleeve, a second coupling and a second limiting mechanism, the puncture needle is inserted in the sleeve and linked with the sleeve, the lower end of the sleeve is connected to the output shaft of the second servo motor through the second coupling, the second limiting mechanism can be arranged between the sleeve and the outer frame, the structure of the second limiting mechanism is the same as that of the first limiting mechanism, and the second limiting mechanism is used to limit the range of movement of the puncture needle mechanism.

[0012] According to some embodiments of the present invention, a detachable pin shaft is further included, a first pin shaft hole is arranged on the second horizontal plate corresponding to the pin shaft, and a second pin shaft hole is arranged on the first connecting shaft corresponding to the pin shaft.

[0013] According to some embodiments of the present invention, the posture acquisition module is a gyroscope disposed on the mounting base.

[0014] According to some embodiments of the present invention, a detachable support rod is further included, a first plug-in slot is provided at the top of the base corresponding to the lower end of the support rod, and a second plug-in slot is provided at the bottom of the motion platform corresponding to the upper end of the support rod.

[0015] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0017] Figure 1 is a schematic structural diagram of a laparoscopic surgery simulation device according to an embodiment of the present invention when the surgical instrument is replaced with a scissor mechanism;

[0018] Figure 2 is a structural schematic diagram of a connecting mechanism according to an embodiment of the present invention;

[0019] Figure 3 is an exploded schematic diagram of a connection mechanism of an embodiment of the present invention;

[0020] Figure 4 is a schematic structural diagram of a scissors mechanism according to an embodiment of the present invention;

[0021] Figure 5 It is a schematic diagram of the structure of the scissors mechanism after the cover body and the first limiting mechanism are hidden in the embodiment of the present invention;

[0022] Figure 6 yes Figure 5 A partial structural diagram of the structure shown in;

[0023] Figure 7 is a schematic cross-sectional view of a scissors mechanism according to an embodiment of the present invention;

[0024] Figure 8 yes Figure 7 A partial structural diagram of the structure shown in;

[0025] Fig. 9 is a schematic structural diagram of a delta parallel mechanism according to an embodiment of the present invention;

[0026] Fig.10 is a structural schematic diagram of a delta parallel mechanism from another perspective of an embodiment of the present invention;

[0027] Fig.11 It is a schematic structural diagram of the laparoscopic surgery simulation device according to an embodiment of the present invention when the surgical instrument is replaced with a puncture needle mechanism.

[0028] Reference numerals:

[0029] Frame 100, bottom plate 110, outer frame 120, base 210, first plug-in slot 211, motion platform 220, second plug-in slot 221, branch chain 230, first servo motor 240, first angle detection element 250, mounting seat 310, posture acquisition module 320, support member 330, first horizontal plate 331, first vertical plate 332, first connecting member 340, second horizontal plate 341, first pin hole 3411, second vertical plate 342, second connecting member 350, third horizontal plate 351, first connecting shaft 352, second pin hole 3521, cross shaft 360, second servo motor 40 ... connecting shaft 352, second pin hole 3 Two angle detection elements 410, fixed handle 510, movable handle 520, mounting portion 530, mounting groove 531, C-shaped connecting portion 532, cover body 540, transmission shaft 550, winding wheel 560, first coupling 570, sleeve 580, connecting seat 581, tension spring 590, bracket 610, L-shaped connecting portion 611, supporting portion 612, rectangular limit frame 620, second connecting shaft 621, guide cylinder 630, third connecting shaft 631, adjusting knob 700, transmission portion 710, first transmission gear 711, third angle detection element 800, second transmission gear 810, puncture needle 910, sleeve 920. DETAILED DESCRIPTION

[0030] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0031] In the description of the present invention, it is necessary to understand that if it involves orientation description, the orientation or position relationship indicated by, for example, up, down, front, back, left, right, etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0032] In the description of the present invention, if the words such as several, greater than, less than, exceed, above, below, within, etc. appear, among which, several means one or more, more means more than two, greater than, less than, exceed, etc. are understood as not including the number itself, and above, below, within, etc. are understood as including the number itself.

[0033] In the description of the present invention, if the words "first", "second", etc. appear, they are only used to distinguish the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the sequence of the indicated technical features.

[0034] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0035] Reference Figures 1 to 3 as well as Fig.11 The laparoscopic surgery simulation device according to an embodiment of the present invention includes a frame 100, a delta parallel mechanism, a connecting mechanism and a surgical instrument.

[0036] The frame 100 includes a base plate 110, and the delta parallel mechanism includes a base 210, a motion platform 220, and an actuator. The base 210 is arranged on the base plate 110, and the motion platform 220 is located above the base 210. The actuator is arranged between the base 210 and the motion platform 220. The actuator includes three first servo motors 240 and three branch chains 230 arranged at intervals. One end of the branch chain 230 is movably connected to the base 210, and the other end of the branch chain 230 is movably connected to the motion platform 220. The first servo motor 240 is arranged on the base 210, and the three first servo motors 240 are transmission-connected to the three branch chains 230 one by one. The specific structure of the branch chain 230 The transmission structure between the branch chain 230 and the first servo motor 240 is a well-known technology in the art and will not be described in detail here. A first angle detection element 250 is provided at the tail of each first servo motor 240. The first angle detection element 250 is used to collect the rotation angle of the output shaft of the first servo motor 240. The connecting mechanism includes a mounting seat 310, a posture acquisition module 320 and a series mechanism. The posture acquisition module 320 is arranged on the mounting seat 310 and is used to collect the posture of the mounting seat 310. The series mechanism is arranged between the mounting seat 310 and the motion platform 220. The series mechanism includes a support member 330, a first connecting member 340, a second connecting member 350 and a cross shaft 360. The support member 3 The support member 330 includes a first horizontal plate 331 and two first vertical plates 332 spaced apart at the top of the first horizontal plate 331, the first horizontal plate 331 is fixedly arranged on the motion platform 220, the first connecting member 340 is located above the supporting member 330, the first connecting member 340 includes a second horizontal plate 341 and two second vertical plates 342 spaced apart at the bottom of the second horizontal plate 341, the supporting member 330 and the first connecting member 340 are arranged orthogonally, the four ends of the cross shaft 360 are rotatably connected to the two first vertical plates 332 and the two second vertical plates 342 in a one-to-one correspondence, the second connecting member 350 is located above the first connecting member 340, the second connecting member 350 includes a third horizontal plate 351 and a second vertical plate 352. The first connecting shaft 352 is placed at the bottom of the third horizontal plate 351, and the third horizontal plate 351 is fixedly arranged at the bottom of the mounting seat 310. The first connecting shaft 352 is rotatably connected to the second horizontal plate 341, so that the mounting seat 310 can rotate relative to the motion platform 220 and can swing back and forth and left and right relative to the motion platform 220. The surgical instrument is detachably arranged on the mounting seat 310, wherein the first servo motor 240, the first angle detection element 250 and the posture acquisition module 320 are all connected to an external computer. Specifically, the first servo motor 240, the first angle detection element 250 and the posture acquisition module 320 can be connected to the external computer by wire or by wireless.

[0037] When in use, the host of the external computer first calculates and obtains the position of the surgical instrument through the data collected by the first angle detection element 250, and calculates and obtains the posture of the surgical instrument through the data collected by the posture acquisition module 320, thereby updating the position and posture of the surgical instrument in the virtual environment displayed on the display of the external computer. Subsequently, the host of the external computer calculates the required feedback torque according to the contact between the surgical instrument and the virtual organ in the virtual environment, and finally transmits the required feedback torque to the surgical instrument through the delta parallel mechanism, thereby simulating the force feedback during surgery. The series mechanism enables the surgical instrument to rotate relative to the motion platform 220 and to swing back and forth and left and right relative to the motion platform 220, which can better adapt to the requirements of different surgical instruments for posture adjustment. At the same time, the surgical instrument can be detachably arranged on the mounting seat 310, and different surgical instruments can be replaced according to actual needs to simulate different surgeries, and it has high versatility.

[0038] Reference Figure 1 as well as Figures 4 to 8In some embodiments, the rack 100 further includes an outer frame 120, the bottom plate 110 is arranged at the inner bottom of the outer frame 120, a second servo motor 400 is arranged on the mounting seat 310, the output shaft of the second servo motor 400 is arranged upward, a second angle detection element 410 is arranged at the tail of the second servo motor 400, the second angle detection element 410 is used to collect the rotation angle of the second servo motor 400, the second servo motor 400 and the second angle detection element 410 are both connected to an external computer, wherein the second servo motor 400 and the second angle detection element 410 can be connected to the external computer by wire or by wireless, the surgical instrument includes a scissors mechanism, the scissors mechanism includes a fixed handle 510, an movable The movable handle 520, the transmission mechanism and the first limiting mechanism, the movable handle 520 is hinged to the fixed handle 510, the end of the fixed handle 510 is provided with a mounting portion 530, the mounting portion 530 is provided with a mounting groove 531, and the mounting portion 530 is provided with a cover body 540 corresponding to the mounting groove 531, the transmission mechanism includes a transmission shaft 550, a transmission rope (not shown in the figure), a winding wheel 560 and a first coupling 570, one end of the transmission shaft 550 is connected to the output shaft of the second servo motor 400 through the first coupling 570, and the other end of the transmission shaft 550 is rotatably connected to the mounting portion 530, the transmission shaft 550 is partially located in the mounting groove 531, and the winding wheel 560 is sleeved on the portion of the transmission shaft 550 located in the mounting groove 531 and is connected to the transmission shaft 550 linkage, a transmission rope is wound around the winding wheel 560, and the end of the transmission rope is connected to the movable handle 520, so that when the movable handle 520 rotates, the winding wheel 560 can be driven to rotate, and the portion of the transmission shaft 550 located outside the mounting groove 531 is sleeved with a sleeve 580, one end of the sleeve 580 is connected to the mounting portion 530, and the other end of the sleeve 580 is detachably connected to the mounting seat 310. Specifically, the end of the sleeve 580 away from the mounting portion 530 is provided with a connecting seat 581, and the connecting seat 581 is connected to the mounting seat 310 by screws. The first limiting mechanism is arranged between the sleeve 580 and the outer frame 120, and the first limiting mechanism is used to limit the range of motion of the scissors mechanism, thereby simulating that the range of motion of the surgical scissors is limited by a small incision in laparoscopic surgery. In the scenario of the restriction of the mouth, the host of the external computer can calculate and obtain the position of the scissors mechanism through the data collected by the first angle detection element 250, and then update the position of the blade head of the surgical scissors in the virtual environment displayed on the display of the external computer. At the same time, the host of the external computer can calculate the required feedback contact torque according to the contact between the blade head of the surgical scissors and the virtual organ in the virtual environment, and then transmit the required feedback contact torque to the scissors mechanism through the delta parallel mechanism. When the movable handle 520 is subjected to force and rotates relative to the fixed handle 510 through rope transmission, it can drive the winding wheel 560 to rotate, thereby driving the transmission shaft 550 to rotate, and then driving the output shaft of the second servo motor 400 to rotate.The host of the external computer can calculate and obtain the opening and closing degree of the movable handle 520 relative to the fixed handle 510 through the data collected by the second angle detection element 410, and then update the opening and closing degree of the surgical scissors in the virtual environment displayed on the display of the external computer. At the same time, the host of the external computer can calculate the required feedback clamping torque according to the situation of the surgical scissors in the virtual environment, and then transmit the required feedback clamping torque to the movable handle 520 through the second servo motor 400, wherein the second servo motor 400 is independent of the surgical instrument, which is conducive to reducing the motion inertia and motion impedance of the surgical instrument, thereby facilitating the flexibility of the surgical instrument.

[0039] Reference Figure 1 , Figure 4 and Figure 7 In some embodiments, the first limiting mechanism includes a bracket 610, a rectangular limiting frame 620 and a guide cylinder 630, the bracket 610 includes an L-shaped connecting portion 611 and a supporting portion 612 vertically arranged on the L-shaped connecting portion 611, the L-shaped connecting portion 611 is detachably arranged on the top of the outer frame 120, specifically, the L-shaped connecting portion 611 is connected to the top of the outer frame 120 by screws, the number of the brackets 610 is two, the two brackets 610 are spaced and arranged opposite to each other, the outer sides of a pair of opposite sides of the rectangular limiting frame 620 are each provided with a second connecting shaft 621, the axes of the two second connecting shafts 621 are collinear, the axes of the second connecting shaft 621 are parallel to one of the axes of the cross axis 360, and the two second connecting shafts 6 The ends of 21 are rotatably connected to the two support parts 612 in a one-to-one manner, the guide cylinder 630 is sleeved on the sleeve 580 and is located in the rectangular limit frame 620, and third connecting shafts 631 are arranged on the opposite sides of the guide cylinder 630, the axes of the two third connecting shafts 631 are collinear, and the axes of the third connecting shafts 631 are parallel to the other axis of the cross shaft 360, and the ends of the two third connecting shafts 631 are rotatably connected to the other two opposite sides of the rectangular limit frame 620 in a one-to-one manner. The above structure can adapt to the changes in the position and posture of the scissors mechanism. At the same time, the rectangular limit frame 620 can limit the amplitude of the sleeve 580 swinging forward and backward and the amplitude of the left and right swinging, thereby limiting the amplitude of the scissors mechanism swinging forward and backward and the amplitude of the left and right swinging.

[0040] Reference Figure 6 and Figure 8 In some embodiments, the scissors mechanism also includes a tension spring 590, which is arranged between the transmission rope and the movable handle 520, one end of the tension spring 590 is connected to the end of the transmission rope, and the other end of the tension spring 590 is connected to the movable handle 520. The tension spring 590 can provide a pre-tightening force for the transmission rope, so that the transmission rope always remains in a tensioned state.

[0041] Reference Figures 4 to 8In some embodiments, an adjusting knob 700 is rotatably provided on the mounting portion 530, and the adjusting knob 700 has a transmission portion 710 extending into the mounting groove 531, and a third angle detection element 800 is provided in the mounting groove 531, and a first transmission gear 711 is fixedly provided on the transmission portion 710, and a second transmission gear 810 meshing with the first transmission gear 711 is provided on the third angle detection element 800, and the third angle detection element 800 is connected to an external computer, wherein the third angle detection element 800 and the external computer can be connected by wire or by wireless, and the third angle detection element 800 is used to collect the rotation angle of the second transmission gear 810, and when it is necessary to adjust the angle of the blade of the surgical scissors in the virtual environment, the adjusting knob 700 can be rotated to adjust, and the host of the external computer can calculate and obtain the angle of the blade of the surgical scissors through the data collected by the third angle detection element 800, and then update the angle of the blade of the surgical scissors in the virtual environment. Specifically, a C-shaped connecting portion 532 is provided on the mounting portion 530 corresponding to the adjusting knob 700, the transmission shaft 550 is rotatably passed through the C-shaped connecting portion 532, and the adjusting knob 700 is rotatably sleeved on the transmission shaft 550 and clamped in the C-shaped connecting portion 532. The structure is more compact, which is conducive to reducing the volume of the scissors mechanism.

[0042] It should be noted that, in some embodiments, the first angle detection element 250 and the second angle detection element 410 are magnetoresistive encoders, and the third angle detection element 800 is a micro angle sensor.

[0043] Reference Fig.11 In some embodiments, the surgical instrument further includes a puncture needle mechanism for replacing the scissors mechanism, the puncture needle mechanism including a puncture needle 910, a sleeve 920, a second coupling (not shown in the figure) and a second limiting mechanism, the puncture needle 910 is inserted into the sleeve 920 and linked with the sleeve 920, the lower end of the sleeve 920 is connected to the output shaft of the second servo motor 400 through the second coupling, the second limiting mechanism can be arranged between the sleeve 920 and the outer frame 120, the structure of the second limiting mechanism is the same as that of the first limiting mechanism, and the second limiting mechanism is used The range of motion of the puncture needle mechanism is limited, thereby simulating a scenario in which the range of motion of the puncture needle is limited by a small incision during laparoscopic surgery. When in use, the host of the external computer can calculate the required feedback extrusion torque based on the extrusion conditions experienced by the puncture needle in the virtual environment during the puncture process, and then can transmit the required feedback extrusion torque to the puncture needle mechanism through the delta parallel mechanism. At the same time, the host of the external computer can transmit the friction torque to the puncture needle mechanism through the second servo motor 400 based on the friction force experienced by the puncture needle in the virtual environment during the puncture process.

[0044] Reference Figure 2 and Figure 3 In some embodiments, a detachable pin shaft (not shown in the figure) is further included, and a first pin shaft hole 3411 is provided on the second horizontal plate 341 corresponding to the pin shaft, and a second pin shaft hole 3521 is provided on the first connecting shaft 352 corresponding to the pin shaft. When the scissors mechanism is replaced by the puncture needle mechanism, the pin shaft is inserted into the first pin shaft hole 3411 and the second pin shaft hole 3521 to limit the rotation of the mounting seat 310 relative to the motion platform 220, so that the rotational freedom of the puncture needle mechanism is only provided by the second servo motor 400, so as to more accurately transmit the friction torque to the scissors mechanism.

[0045] It should be noted that, in some of the embodiments, the attitude acquisition module 320 is a gyroscope disposed on the mounting base 310 , and the gyroscope can be connected to an external computer via Bluetooth, thus avoiding the disadvantages of complex wiring and difficult calibration.

[0046] Reference Fig. 9 and Fig.10 In some embodiments, a detachable support rod (not shown in the figure) is further included, and a first plug-in groove 211 is provided at the top of the base 210 corresponding to the lower end of the support rod, and a second plug-in groove 221 is provided at the bottom of the motion platform 220 corresponding to the upper end of the support rod. When replacing the surgical instrument, the lower end of the support rod is inserted into the first plug-in groove 211 and the upper end of the support rod is inserted into the second plug-in groove 221, so that the position of the motion platform 220 can be fixed to facilitate the replacement of the surgical instrument.

[0047] In the description of this specification, if the description involves reference terms such as "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples" and "some examples", it means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0048] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A laparoscopic surgery simulation device, characterized in that: include: A frame (100), the frame (100) comprising a bottom plate (110); A delta parallel mechanism, the delta parallel mechanism comprising a base (210), a motion platform (220) and an actuator, the base (210) being arranged on the bottom plate (110), the motion platform (220) being located above the base (210), the actuator being arranged between the base (210) and the motion platform (220), the actuator comprising three first servo motors (240) and three branch chains (230) arranged at intervals, one end of the branch chain (230) being movably connected to the base (210), the other end of the branch chain (230) being movably connected to the motion platform (220), the first servo motor (240) being arranged on the base (210), the three first servo motors (240) being transmission-connected to the three branch chains (230) in a one-to-one correspondence, and a first angle detection element (250) being arranged at the tail of each first servo motor (240); A connecting mechanism, the connecting mechanism comprising a mounting seat (310), a posture acquisition module (320) and a series mechanism, the posture acquisition module (320) being arranged on the mounting seat (310), the series mechanism being arranged between the mounting seat (310) and the motion platform (220), the series mechanism comprising a support member (330), a first connecting member (340), a second connecting member (350) and a cross shaft (360), the supporting member (330) comprising a first horizontal plate (331) and two first vertical plates (332) spaced apart on top of the first horizontal plate (331), the first horizontal plate (331) being fixedly arranged on the motion platform (220), the first connecting member (340) being located above the supporting member (330), the first connecting member (340) ) comprises a second horizontal plate (341) and two second vertical plates (342) spaced apart at the bottom of the second horizontal plate (341), the support member (330) and the first connecting member (340) are arranged orthogonally, the four ends of the cross axis (360) are rotatably connected to the two first vertical plates (332) and the two second vertical plates (342) in a one-to-one correspondence, the second connecting member (350) is located above the first connecting member (340), the second connecting member (350) comprises a third horizontal plate (351) and a first connecting shaft (352) arranged at the bottom of the third horizontal plate (351), the third horizontal plate (351) is fixedly arranged at the bottom of the mounting seat (310), and the first connecting shaft (352) is rotatably connected to the second horizontal plate (341); A surgical instrument, the surgical instrument being detachably mounted on the mounting seat (310); Wherein, the first servo motor (240), the first angle detection element (250) and the posture acquisition module (320) are all connected to an external computer; The frame (100) further comprises an outer frame (120), the base plate (110) is arranged at the inner bottom of the outer frame (120), a second servo motor (400) is arranged on the mounting seat (310), the output shaft of the second servo motor (400) is arranged upward, a second angle detection element (410) is arranged at the tail of the second servo motor (400), the second servo motor (400) and the second angle detection element (410) are both connected to an external computer, and the surgical instrument comprises a scissor mechanism, the scissor mechanism comprises A fixed handle (510), a movable handle (520), a transmission mechanism and a first limiting mechanism, wherein the movable handle (520) is hinged to the fixed handle (510), a mounting portion (530) is provided at the end of the fixed handle (510), a mounting groove (531) is provided on the mounting portion (530), a cover body (540) is provided on the mounting portion (530) corresponding to the mounting groove (531), the transmission mechanism comprises a transmission shaft (550), a transmission rope, a winding wheel (560) and a first coupling (570), the transmission shaft (55 0) is connected to the output shaft of the second servo motor (400) through the first coupling (570), the other end of the transmission shaft (550) is rotatably connected to the mounting portion (530), the transmission shaft (550) is partially located in the mounting groove (531), the winding wheel (560) is sleeved on the portion of the transmission shaft (550) located in the mounting groove (531) and is linked to the transmission shaft (550), the transmission rope is wound around the winding wheel (560), and the end of the transmission rope is connected to the movable handle ( 520), so that when the movable handle (520) is rotated, the winding wheel (560) can be driven to rotate; a sleeve (580) is sleeved on a portion of the transmission shaft (550) located outside the mounting groove (531); one end of the sleeve (580) is connected to the mounting portion (530); the other end of the sleeve (580) is detachably connected to the mounting seat (310); the first limiting mechanism is arranged between the sleeve (580) and the outer frame (120); the first limiting mechanism is used to limit the range of movement of the scissor mechanism.

2. The laparoscopic surgery simulation device according to claim 1, characterized in that: The first limiting mechanism comprises a bracket (610), a rectangular limiting frame (620) and a guide cylinder (630); the bracket (610) comprises an L-shaped connecting portion (611) and a supporting portion (612) vertically arranged on the L-shaped connecting portion (611); the L-shaped connecting portion (611) is detachably arranged on the top of the outer frame (120); the number of the brackets (610) is two, and the two brackets (610) are spaced apart and arranged opposite to each other; a second connecting shaft (621) is arranged on the outer side of a pair of opposite sides of the rectangular limiting frame (620); the axes of the two second connecting shafts (621) are collinear, and the axes of the second connecting shafts (621) are parallel to each other. The guide tube (630) is sleeved on the sleeve (580) and is located in the rectangular limit frame (620). The third connection shafts (631) are arranged on opposite sides of the guide tube (630). The axes of the two third connection shafts (631) are collinear. The axes of the third connection shafts (631) are parallel to the other axis of the cross shaft (360). The ends of the two third connection shafts (631) are rotatably connected to the other pair of opposite sides of the rectangular limit frame (620) in a one-to-one manner.

3. The laparoscopic surgery simulation device according to claim 1, characterized in that: The scissor mechanism further comprises a tension spring (590), wherein the tension spring (590) is arranged between the transmission rope and the movable handle (520), one end of the tension spring (590) is connected to the end of the transmission rope, and the other end of the tension spring (590) is connected to the movable handle (520).

4. The laparoscopic surgery simulation device according to claim 1, characterized in that: An adjusting knob (700) is rotatably arranged on the mounting portion (530), the adjusting knob (700) has a transmission portion (710) extending into the mounting groove (531), a third angle detection element (800) is arranged in the mounting groove (531), a first transmission gear (711) is fixedly arranged on the transmission portion (710), a second transmission gear (810) meshing with the first transmission gear (711) is arranged on the third angle detection element (800), and the third angle detection element (800) is connected to an external computer.

5. The laparoscopic surgery simulation device according to claim 4, characterized in that: The first angle detection element (250) and the second angle detection element (410) are magnetoresistive encoders, and the third angle detection element (800) is a micro angle sensor.

6. The laparoscopic surgery simulation device according to claim 1, characterized in that: The surgical instrument further comprises a puncture needle mechanism for replacing the scissor mechanism, the puncture needle mechanism comprising a puncture needle (910), a sleeve (920), a second coupling and a second limiting mechanism, the puncture needle (910) being inserted into the sleeve (920) and linked with the sleeve (920), the lower end of the sleeve (920) being connected to the output shaft of the second servo motor (400) via the second coupling, the second limiting mechanism being able to be arranged between the sleeve (920) and the outer frame (120), the structure of the second limiting mechanism being the same as that of the first limiting mechanism, and the second limiting mechanism being used to limit the range of motion of the puncture needle mechanism.

7. The laparoscopic surgery simulation device according to claim 6, characterized in that: It also includes a detachable pin shaft, a first pin shaft hole (3411) is provided on the second horizontal plate (341) corresponding to the pin shaft, and a second pin shaft hole (3521) is provided on the first connecting shaft (352) corresponding to the pin shaft.

8. The laparoscopic surgery simulation device according to claim 1, characterized in that: The attitude acquisition module (320) is a gyroscope arranged on the mounting seat (310).

9. The laparoscopic surgery simulation device according to claim 1, characterized in that: It also comprises a detachable support rod, the top of the base (210) is provided with a first plugging slot (211) corresponding to the lower end of the support rod, and the bottom of the motion platform (220) is provided with a second plugging slot (221) corresponding to the upper end of the support rod.

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