Multi-degree-of-freedom laparoscopic surgery simulation force feedback device

Abstract

The application provides a multi-degree-of-freedom laparoscopic surgery simulation force feedback device, which comprises a base table, an instrument connecting piece and a simulation practice instrument, the simulation practice instrument is arranged on the base table through the instrument connecting piece, the instrument connecting piece comprises a universal ball, a ring-shaped frame and a limiting pressing plate, the ring-shaped frame is connected to the lower hemisphere part of the universal ball in a matched mode, and the limiting pressing plate abuts against the upper hemisphere part of the universal ball, so that the universal ball is limited in the ring-shaped frame; the simulation practice instrument comprises a simulation surgical forceps, the simulation surgical forceps comprises a forceps handle and a forceps rod connected to the forceps handle, and the forceps rod is inserted into the universal ball; wherein the ring-shaped frame and the limiting pressing plate are provided with a first force feedback device and a second force feedback device in contact with the surface of the universal ball, and the inside of the universal ball is provided with a third force feedback device. This design can simulate the operation mode in actual surgery to the greatest extent, and overcomes the problem that the existing scheme is limited by mechanical structure and the range of movement of the instrument is limited.

Description

Technical Field

[0001] This invention relates to the field of simulation surgical training equipment technology, and in particular to a force feedback device for simulating multi-degree-of-freedom laparoscopic surgery. Background Technology

[0002] Compared to traditional open surgery, laparoscopic surgery offers advantages such as less trauma, less bleeding, shorter recovery time, and less surgical pain. Due to these significant advantages, laparoscopic surgery has become one of the main methods of modern surgery. In recent years, laparoscopic surgical techniques and related equipment have developed significantly, while the demand for laparoscopic surgical professionals has increased year by year. This necessitates the rapid training of more qualified laparoscopic surgical professionals, leading to the development of laparoscopic surgical simulation systems. However, most laparoscopic surgical simulation systems currently on the market employ simple serial structures, which, due to mechanical limitations, result in a limited range of motion and restrict the freedom of training. Summary of the Invention

[0003] Therefore, the purpose of this invention is to provide a multi-degree-of-freedom laparoscopic surgery simulation force feedback device to solve the technical problems mentioned in the background art.

[0004] This invention proposes a multi-degree-of-freedom laparoscopic surgery simulation force feedback device, including a base platform, an instrument connector, and a simulation practice device. The simulation practice device is mounted on the base platform via the instrument connector. The instrument connector includes a universal ball, a ring frame, and a limiting pressure plate. The ring frame is connected to the lower hemisphere of the universal ball, and the limiting pressure plate abuts against the upper hemisphere of the universal ball, so that the universal ball is confined within the ring frame.

[0005] The simulation training device includes a simulated surgical forceps, which includes a forceps bar and a forceps handle connected to the forceps bar, and the forceps bar is inserted into the universal ball.

[0006] The ring frame and the limiting pressure plate are provided with a first force feedback device and a second force feedback device that are in contact with the surface of the omnidirectional ball. The first force feedback device and the second force feedback device are used to obtain the rotation angle parameters of the omnidirectional ball in different directions, and apply resistance in different directions to the omnidirectional ball according to the rotation angle parameters. The omnidirectional ball is provided with a third force feedback device inside, which is used to obtain the linear displacement parameters of the clamping rod, and apply resistance to the clamping rod according to the linear displacement parameters.

[0007] Furthermore, in the multi-degree-of-freedom laparoscopic surgery simulation force feedback device, the base platform includes a base plate and a column disposed on the base plate. The column is provided with a lifting assembly and a telescopic assembly connected to the lifting assembly. The instrument connector is fixedly connected to the telescopic assembly. The instrument connector can move up and down along the column under the drive of the lifting assembly, or extend and retract along the vertical direction of the column under the drive of the telescopic assembly.

[0008] Furthermore, in the multi-degree-of-freedom laparoscopic surgery simulation force feedback device, the first force feedback device includes a third motor, a first friction rod, and a first angle sensor. The third motor is fixed on the limiting pressure plate. The first friction rod is connected to the output shaft of the third motor. The first friction rod is horizontally arranged relative to the ring frame and contacts the upper hemisphere surface of the universal ball. The first angle sensor is located inside the third motor and cooperates with the output shaft of the third motor.

[0009] The second force feedback device includes a fourth motor, a second friction rod, and a second angle sensor. The fourth motor is fixed on the ring frame. The second friction rod is connected to the output shaft of the fourth motor. The second friction rod is inclined relative to the column and contacts the lower hemisphere surface of the universal ball. The second angle sensor is located inside the fourth motor and cooperates with the output shaft of the fourth motor.

[0010] Furthermore, in the multi-degree-of-freedom laparoscopic surgery simulation force feedback device, the third force feedback device includes a fifth motor, a third friction rod, and a displacement sensor. The fifth motor is disposed within the universal ball joint, the third friction rod is connected to the output shaft of the fifth motor and contacts the clamp rod, and the displacement sensor is disposed within the universal ball joint and cooperates with the clamp rod.

[0011] Furthermore, in the multi-degree-of-freedom laparoscopic surgery simulation force feedback device, two columns are arranged side by side with a gap between them. The lifting assembly includes a lifting frame that slides between the two columns and a first drive structure for driving the lifting frame to move up and down along the columns. The lifting frame includes an upper crossbeam and a lower crossbeam and a connecting plate connecting the two. The upper crossbeam and the lower crossbeam are slidably mounted on the columns. The first drive structure includes a first motor, a first gear, and a first rack. The first motor is located on the lower crossbeam at the position corresponding to the gap. The first gear is located on the output shaft of the first motor. The first rack is located on one side of one of the columns, located in the gap, and meshes with the first gear.

[0012] Furthermore, in the multi-degree-of-freedom laparoscopic surgery simulation force feedback device, the telescopic assembly includes a telescopic frame slidably connected to the connecting plate, and a second drive structure for driving the telescopic frame to extend and retract along the connecting plate. The telescopic frame includes two parallel telescopic rods and a first sliding rod connecting the two telescopic rods. A first linear groove is provided on the connecting plate, and the first sliding rod is slidably connected to the first linear groove, allowing the telescopic rods to slide back and forth along the first linear groove. One end of each of the two telescopic rods is fixed to the annular frame, and the other end is fixed to the limiting pressure plate via a connecting block. The second drive structure includes a second motor, a second gear, and a second rack. The second motor is fixed to the connecting plate, the second gear is located on the output shaft of the second motor, and the second rack is located on the telescopic rod and meshes with the second gear.

[0013] Furthermore, in the multi-degree-of-freedom laparoscopic surgery simulation force feedback device, there are two limiting pressure plates, and a second sliding rod is connected between the two limiting pressure plates. A second linear sliding groove is provided on the connecting plate. The second sliding rod is slidably engaged with the second linear sliding groove, so that the limiting pressure plate can slide back and forth along the second linear sliding groove.

[0014] Furthermore, in the multi-degree-of-freedom laparoscopic surgery simulation force feedback device, the end of the limiting pressure plate away from the connecting block is an arc surface.

[0015] Furthermore, in the multi-degree-of-freedom laparoscopic surgery simulation force feedback device, the forceps handle has two openable and closable gripping arms, and a spring damper is provided between the two gripping arms.

[0016] Furthermore, in the multi-degree-of-freedom laparoscopic surgery simulation force feedback device, a turntable is rotatably connected to the bottom surface of the base plate, a turbine is provided around the periphery of the turntable, and a worm gear that cooperates with the turbine is rotatably provided on the base plate.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] 1. By using a universal ball joint to connect the forceps, medical personnel can rotate the forceps freely in multiple directions when operating them. This design can simulate the operation mode in actual surgery to the greatest extent, overcoming the problem that the existing training equipment is limited by the mechanical structure, resulting in a limited range of motion of the instruments, and providing medical personnel with a more realistic training experience.

[0019] 2. The omnidirectional ball is externally connected to the first and second force feedback devices to apply opposing resistance in different directions according to the rotation angle of the omnidirectional ball in different directions. The omnidirectional ball is internally equipped with a third force feedback device that works with the clamp rod to apply opposing resistance according to the extension distance of the clamp rod, so as to achieve the effect of simulating a real surgical scene and further enhance the simulation training experience. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the force feedback device for simulating multi-degree-of-freedom laparoscopic surgery in this invention.

[0021] Figure 2 This is a schematic diagram of the specific structure of the base platform in this invention;

[0022] Figure 3 This is an exploded view of the base platform in this invention;

[0023] Figure 4 This is a schematic diagram of the specific structure of the telescopic component in this invention;

[0024] Figure 5 This is a schematic diagram of the specific structure of the instrument connector in this invention;

[0025] Figure 6 This is an assembly diagram of the simulation training device and the third force feedback device in this invention;

[0026] Figure 7 This is a schematic diagram of the bottom structure of the base platform in this invention;

[0027] Explanation of key component symbols:

[0028] 10. Base platform; 20. Equipment connector; 30. Simulation training equipment; 11. Base plate; 12. Column; 13. Lifting assembly; 14. Telescopic assembly; 131. Upper crossbeam; 132. Lower crossbeam; 133. Connecting plate; 134. First motor; 135. First gear; 136. First rack; 141. Telescopic rod; 142. First slide rod; 143. First linear slide rail; 144. Second motor; 145. Second gear; 146. Second rack; 21. Ring frame ; 22. Universal ball; 23. Limiting pressure plate; 24. Connecting block; 25. Second slide rod; 26. Second linear slide groove; 41. Third motor; 42. First friction rod; 51. Fourth motor; 52. Second friction rod; 61. Fifth motor; 62. Third friction rod; 63. Displacement sensor; 31. Clamping bar; 32. Clamping handle; 33. Holding arm; 34. Spring damper; 71. Turntable; 72. Turbine; 73. Worm gear; 81. First control pedal; 82. Second control pedal.

[0029] The following detailed description, in conjunction with the accompanying drawings, will further illustrate the present invention. Detailed Implementation

[0030] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Several embodiments of the invention are illustrated in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0031] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0033] Please see Figures 1 to 5 The multi-degree-of-freedom laparoscopic surgery simulation force feedback device of the present invention includes a base platform 10, an instrument connector 20, and a simulation practice device 30. The simulation practice device 30 is set on the base platform 10 through the instrument connector 20. The instrument connector 20 includes a universal ball 22, a ring frame 21, and a limiting pressure plate 23. The ring frame 21 is connected to the lower hemisphere of the universal ball 22, and the limiting pressure plate 23 abuts against the upper hemisphere of the universal ball 22 so that the universal ball 22 is confined in the ring frame 21.

[0034] The simulation training device 30 includes a simulated surgical forceps, which includes a forceps bar 31 and a forceps handle 32 connected to the forceps bar 31. The forceps bar 31 is inserted into the universal ball 22.

[0035] The ring frame 21 and the limiting pressure plate 23 are provided with a first force feedback device and a second force feedback device that are in contact with the surface of the universal ball 22. The first force feedback device and the second force feedback device are used to obtain the rotation angle parameters of the universal ball 22 in different directions, and apply resistance in different directions to the universal ball 22 according to the rotation angle parameters. The universal ball 22 is provided with a third force feedback device inside. The third force feedback device is used to obtain the linear displacement parameters of the clamp 31, and apply resistance to the clamp 31 according to the linear displacement parameters.

[0036] By using a universal ball 22 to connect the clamp rod 31, medical personnel can rotate the clamp rod 31 freely in multiple directions when operating it. This design can simulate the operation mode in actual surgery to the greatest extent, overcoming the problem that the exercise equipment in the existing solution is limited by the mechanical structure, resulting in a limited range of motion of the instrument, and providing medical personnel with a more realistic training experience.

[0037] It should be noted that the simulation training device 30 includes, but is not limited to, simulated surgical forceps. This embodiment is only an example and not a limitation. It can also be an endoscope, etc.

[0038] like Figure 2 and Figure 3 As shown, the base platform 10 includes a base plate 11 and a column 12 disposed on the base plate 11. The column 12 is provided with a lifting assembly 13 and a telescopic assembly 14 connected to the lifting assembly 13. The instrument connector 20 is fixedly connected to the telescopic assembly 14. The instrument connector 20 can be lifted and lowered along the column 12 under the drive of the lifting assembly 13, or can be extended and retracted along the vertical direction of the column 12 under the drive of the telescopic assembly 14.

[0039] Understandably, the lifting assembly 13 and the telescopic assembly 14 enable the adjustment of the position of the instrument connector 20 in space. The position of the simulated surgical forceps can be precisely adjusted according to different surgical needs and the characteristics of the surgical site, thereby better simulating the operating environment and requirements in actual surgery.

[0040] For details, please refer to Figure 3Two columns 12 are arranged side by side, with a gap between them. The lifting assembly 13 includes a lifting frame that slides between the two columns 12, and a first drive structure for driving the lifting frame to move up and down along the columns 12. The lifting frame includes an upper crossbeam 131 and a lower crossbeam 132, and a connecting plate 133 connecting the two. The upper crossbeam 131 and the lower crossbeam 132 are slidably mounted on the columns 12. The first drive structure includes a first motor 134, a first gear 135, and a first rack 136. The first motor 134 is located on the lower crossbeam 132 at the position corresponding to the gap. The first gear 135 is located on the output shaft of the first motor 134. The first rack 136 is located on one side of one of the columns 12, located in the gap, and meshes with the first gear 135. Understandably, by controlling the first motor 134 to rotate forward and backward, the first gear 135 can move up or down along the first rack 136, so that under the mutual cooperation of the first gear 135 and the first rack 136, the lifting frame can rise or fall along the column 12.

[0041] The telescopic assembly 14 includes a telescopic frame that is slidably connected to the connecting plate 133, and a second drive structure for driving the telescopic frame to extend and retract along the connecting plate 133. Figure 3 As shown, in this embodiment, there are two connecting plates 133, located on the left and right sides of the two columns 12 respectively. Correspondingly, there are also two telescopic frames. Each telescopic frame has an instrument connector 20 at its end, for a total of two instrument connectors 20, which can meet the needs of medical personnel for two-handed operation practice.

[0042] Specifically, such as Figure 3 and Figure 4As shown, the telescopic frame includes two parallel telescopic rods 141 and a first sliding rod 142 connecting the two telescopic rods 141. A first straight groove 143 is provided on the connecting plate 133. The first sliding rod 142 is slidably engaged with the first straight groove 143, so that the telescopic rods 141 can slide back and forth along the first straight groove 143. One end of the two telescopic rods 141 is fixed to the annular frame 21, and the other end is fixed to the limiting pressure plate 23 through a connecting block 24. The second drive structure includes a second motor 144, a second gear 145, and a second rack 146. The second motor 144 is fixed on the connecting plate 133, the second gear 145 is located on the output shaft of the second motor 144, and the second rack 146 is located on the telescopic rods 141 and meshes with the second gear 145. Understandably, by controlling the second motor 144 to rotate forward and backward, the second gear 145 can move forward or backward along the second rack 146, so that under the mutual cooperation of the second gear 145 and the second rack 146, the telescopic frame can slide forward or backward along the connecting plate 133.

[0043] like Figure 4 As shown, there are two limiting pressure plates 23, and a second sliding rod 25 connects the two limiting pressure plates 23. A second linear sliding groove 26 is provided on the connecting plate 133. The second sliding rod 25 is slidably engaged with the second linear sliding groove 26, allowing the limiting pressure plate 23 to slide back and forth along the second linear sliding groove 26. It can be understood that since the limiting pressure plate 23 is fixed to the telescopic rod 141 through the connecting block 24, the limiting pressure plate 23 can move synchronously with the telescopic rod 141, thereby ensuring that the limiting pressure plate 23 always abuts against the surface of the universal ball 22. The cooperation between the second sliding rod 25 and the second linear sliding groove 26 effectively improves the stability of the limiting pressure plate 23 during sliding, effectively reducing the shaking and offset of the limiting pressure plate 23 during movement, ensuring the limiting effect on the universal ball 22.

[0044] like Figure 4 As shown, the end of the limiting pressure plate 23 away from the connecting block 24 is an arc surface. This arc surface design can better adapt to the shape of the universal ball 22, ensuring that the limiting pressure plate 23 will not cause excessive friction or resistance to the universal ball 22 while restricting its rotation.

[0045] For further details, please refer to [link / reference]. Figure 2 and Figure 3The base plate 11 is provided with a first control pedal 81 and a second control pedal 82 arranged side by side. The first control pedal 81 is used to control the first motor 134, and the second control pedal 82 is used to control the second motor 144. Specifically, both the first control pedal 81 and the second control pedal 82 are three-phase forward and reverse pedals, and they are distinguished by different colors, such as blue and yellow. During the operation, the surgeon can place their left foot on the blue pedal to control the first motor 134 to adjust the height of the ring frame 21. Similarly, the surgeon can place their right foot on the yellow pedal to control the second motor 144 to adjust the forward and backward extension distance of the ring frame 21.

[0046] It should be noted that the three-phase forward and reverse pedals are in a horizontal position under normal conditions, and doctors can control the forward and reverse rotation of the electrodes by stepping on the pedals forward or backward.

[0047] like Figure 4 and Figure 5 As shown, the first force feedback device includes a third motor 41, a first friction rod 42, and a first angle sensor (not shown). The third motor 41 is fixed on the limiting pressure plate 23. The first friction rod 42 is connected to the output shaft of the third motor 41. The first friction rod 42 is horizontally arranged relative to the ring frame 21 and contacts the upper hemisphere surface of the universal ball 22. The first angle sensor is located inside the third motor 41 and cooperates with the output shaft of the third motor 41.

[0048] The second force feedback device includes a fourth motor 51, a second friction rod 52, and a second angle sensor (not shown). The fourth motor 51 is fixed on the ring frame 21. The second friction rod 52 is connected to the output shaft of the fourth motor 51. The second friction rod 52 is inclined relative to the column 12 and contacts the lower hemisphere surface of the universal ball 22. The second angle sensor is located inside the fourth motor 51 and cooperates with the output shaft of the fourth motor 51.

[0049] The first angle sensor and the second angle sensor mentioned above can be encoders, but are not limited to them; they can also be potentiometers or rotary transformers.

[0050] In practical applications, when the omnidirectional ball 22 rolls forward or backward, the first friction rod 42 rotates synchronously. This allows the first angle sensor to acquire the changes in the angle of the omnidirectional ball 22 in real time and transmit the acquired rotation angle parameters to the controller (not shown). Based on the rotation angle parameters acquired by the first angle sensor and combined with a preset spatial model, the controller calculates the pose of the simulation training device 30 in space. Then, based on the calculated pose information, the controller controls the third motor 41 to rotate, causing the first friction rod 42 to apply corresponding force feedback to the omnidirectional ball 22. This force feedback mechanism can simulate the actual resistance in surgical operations, providing a more realistic operating experience.

[0051] In addition, the working principle of the second force feedback device is the same as that of the first force feedback device. The only difference is that the second friction rod 52 of the second force feedback device is used to obtain the change of the angle of the universal ball 22 in the circumferential direction.

[0052] In summary, the first force feedback device combined with the second force feedback device can simulate the comprehensive force feedback effect during surgical operations, including resistance in the forward, backward, rotational, and lateral directions, thereby providing a more realistic and immersive training experience. Furthermore, it should be noted that the number of the first and second force feedback devices can be adjusted as needed; specifically, they can be added at intervals along the circumference of the omnidirectional ball 22. This embodiment is merely an example and not a limitation.

[0053] It should be noted that the aforementioned preset spatial model refers to a database of relative mechanical parameters constructed by measuring different simulated surgical target samples. This mechanical parameter information can be used to simulate the operating environment inside the human abdominal cavity.

[0054] like Figure 6 As shown, the third force feedback device includes a fifth motor 61, a third friction rod 62, and a displacement sensor 63. The fifth motor 61 is disposed within the universal ball 22. The third friction rod 62 is connected to the output shaft of the fifth motor 61 and contacts the clamp 31. The displacement sensor 63 is disposed within the universal ball 22 and cooperates with the clamp 31. Specifically, the displacement sensor 63 is a grating sensor, which can measure the displacement change of the clamp 31 in real time and transmit the acquired linear displacement parameters to the controller. The controller calculates the pose of the simulation training device 30 in space based on the linear displacement parameters acquired by the grating sensor and a preset spatial model. Then, based on the calculated pose information, the controller controls the fifth motor 61 to rotate, so that the third friction rod 62 applies corresponding force feedback to the clamp 31.

[0055] Furthermore, such as Figure 6As shown, the clamp handle 32 has two openable gripping arms 33, with a spring damper 34 positioned between the two gripping arms 33. Additionally, the clamp handle 32 has a connector for connecting external wiring to provide electronic control to the spring damper 34 and for data transmission. Understandably, the spring damper 34 applies a counterforce to the operator during clamping of the gripping arms 33, simulating resistance generated during movement or surgery. The magnitude of the resistance generated by the spring damper 34 is adjusted in real-time based on the position information of the simulated surgical forceps in a preset spatial model obtained by a grating sensor. Different force values ​​are allocated according to different situations or positions of the simulated surgical forceps in the preset spatial model, making the simulated surgery more closely resemble the feel of real hands.

[0056] In actual operation, taking simulated surgical forceps as an example, it has four actions, as follows:

[0057] Action 1 is a linear extension and retraction action. The operator directly extends and retracts the simulated surgical forceps. The forceps bar 31 extends and retracts along the axis of the universal ball 22. During this process, the displacement sensor 63 will measure the linear extension and retraction of the forceps bar 31 in real time, and then control the corresponding fifth motor 61 to apply force feedback based on the measured displacement.

[0058] Action 2 is a forward and backward pushing action. The operator directly pushes the simulated surgical forceps forward or backward. During this process, the first angle sensor will measure the rotational movement of the simulated surgical forceps in real time, and then control the corresponding third motor 41 to apply force feedback based on the measured rotational movement.

[0059] Action 3 is a circular rotation action. The operator directly pushes the simulated surgical forceps to make a circular motion. During this process, the second angle sensor will measure the rotational movement of the simulated surgical forceps in real time, and then control the corresponding fourth motor 51 to apply force feedback based on the measured rotational movement.

[0060] Action four is the operation of the clamp handle 32. The operator directly clamps the two gripping arms 33. During this process, the displacement sensor 63 will measure the position and orientation of the clamp bar 31 in the preset spatial model in real time, and then control the corresponding spring damper 34 to apply force feedback based on the measured position information.

[0061] The aforementioned actions one, two, three, and four can be combined to form a combined action, such as operating the simulated surgical forceps obliquely upward while advancing. Multiple measuring components can calculate the spatial attitude and position of the end of the forceps 31, and control the corresponding third motor 41, fourth motor 51, fifth motor 61, and spring damper 34 to apply force feedback to simulate obstruction and the generation of counter-thrust force when touching organs or tissues.

[0062] For further details, please refer to [link / reference]. Figure 7 A turntable 71 is rotatably connected to the bottom surface of the base plate 11. A turbine 72 is provided around the periphery of the turntable 71, and a worm gear 73 that cooperates with the turbine 72 is rotatably mounted on the base plate 11. In practical applications, medical personnel can rotate the worm gear 73, and through the cooperation of the turbine 72 and the worm gear 73, adjust the rotation angle of the base plate 11, further improving the degree of freedom of position adjustment of the simulated surgical forceps in space.

[0063] In summary, the multi-degree-of-freedom laparoscopic surgery simulation force feedback device in the above embodiments of the present invention, by using a universal ball 22 to connect the clamp rod 31, allows medical personnel to rotate freely in multiple directions when manipulating the clamp rod 31. This design can simulate the operation mode in actual surgery to the greatest extent, overcome the problem that the exercise equipment in the existing solution is limited by the mechanical structure, resulting in a limited range of motion of the instrument, and provides medical personnel with a more realistic training experience.

[0064] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0065] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A multi-degree-of-freedom laparoscopic surgery simulation force feedback device, characterized by, The device includes a base platform, a device connector, and a simulation training device. The simulation training device is mounted on the base platform via the device connector. The device connector includes a universal ball, a ring frame, and a limiting pressure plate. The ring frame is connected to the lower hemisphere of the universal ball, and the limiting pressure plate abuts against the upper hemisphere of the universal ball to confine the universal ball within the ring frame. The simulation training device includes a simulated surgical forceps, which includes a forceps bar and a forceps handle connected to the forceps bar, and the forceps bar is inserted into the universal ball. The ring frame and the limiting pressure plate are provided with a first force feedback device and a second force feedback device that are in contact with the surface of the universal ball. The first force feedback device and the second force feedback device are used to obtain the rotation angle parameters of the universal ball in different directions, and apply resistance in different directions to the universal ball according to the rotation angle parameters. The universal ball is provided with a third force feedback device, which is used to obtain the linear displacement parameters of the clamping rod, and apply resistance to the clamping rod according to the linear displacement parameters. The first force feedback device includes a third motor, a first friction rod, and a first angle sensor. The third motor is fixed on the limiting pressure plate. The first friction rod is connected to the output shaft of the third motor. The first friction rod is horizontally arranged relative to the ring frame and contacts the upper hemisphere surface of the universal ball. The first angle sensor is located inside the third motor and cooperates with the output shaft of the third motor. The second force feedback device includes a fourth motor, a second friction rod, and a second angle sensor. The fourth motor is fixed on the ring frame. The second friction rod is connected to the output shaft of the fourth motor. The second friction rod is inclined relative to the column of the base platform and contacts the lower hemisphere surface of the universal ball. The second angle sensor is located inside the fourth motor and cooperates with the output shaft of the fourth motor. The third force feedback device includes a fifth motor, a third friction rod, and a displacement sensor. The fifth motor is located inside the universal ball joint. The third friction rod is connected to the output shaft of the fifth motor and contacts the clamp rod. The displacement sensor is located inside the universal ball joint and cooperates with the clamp rod.

2. The multi-degree-of-freedom laparoscopic surgery simulation force feedback device according to claim 1, characterized in that, The base platform includes a base plate and a column disposed on the base plate. The column is provided with a lifting assembly and a telescopic assembly connected to the lifting assembly. The instrument connector is fixedly connected to the telescopic assembly. The instrument connector can move up and down along the column under the drive of the lifting assembly, or extend and retract along the vertical direction of the column under the drive of the telescopic assembly.

3. The multi-degree-of-freedom laparoscopic surgery simulation force feedback device according to claim 2, characterized in that, Two columns are arranged side by side, with a gap between them. The lifting assembly includes a lifting frame that slides between the two columns, and a first drive structure for driving the lifting frame to move up and down along the columns. The lifting frame includes an upper crossbeam and a lower crossbeam, and a connecting plate connecting the two. The upper crossbeam and the lower crossbeam are slidably mounted on the columns. The first drive structure includes a first motor, a first gear, and a first rack. The first motor is located on the lower crossbeam at the position corresponding to the gap. The first gear is located on the output shaft of the first motor. The first rack is located on one side of one of the columns, located in the gap, and meshes with the first gear.

4. The multi-degree-of-freedom laparoscopic surgery simulation force feedback device according to claim 3, characterized in that, The telescopic assembly includes a telescopic frame slidably connected to the connecting plate, and a second drive structure for driving the telescopic frame to extend and retract along the connecting plate. The telescopic frame includes two parallel telescopic rods and a first slide rod connecting the two telescopic rods. A first straight groove is provided on the connecting plate, and the first slide rod is slidably connected to the first straight groove, so that the telescopic rods can slide back and forth along the first straight groove. One end of each of the two telescopic rods is fixed to the annular frame, and the other end is fixed to the limiting pressure plate through a connecting block. The second drive structure includes a second motor, a second gear, and a second rack. The second motor is fixed to the connecting plate, the second gear is located on the output shaft of the second motor, and the second rack is located on the telescopic rod and meshes with the second gear.

5. The multi-degree-of-freedom laparoscopic surgery simulation force feedback device according to claim 4, characterized in that, The number of limiting pressure plates is two, and a second sliding rod is connected between the two limiting pressure plates. A second linear sliding groove is provided on the connecting plate. The second sliding rod is slidably matched with the second linear sliding groove, so that the limiting pressure plate can slide back and forth along the second linear sliding groove.

6. The multi-degree-of-freedom laparoscopic surgery simulation force feedback device according to claim 4, characterized in that, The end of the limiting pressure plate away from the connecting block is an arc surface.

7. The multi-degree-of-freedom laparoscopic surgery simulation force feedback device according to claim 1, characterized in that, The pliers handle has two openable gripping arms, with a spring damper between the two gripping arms.

8. The multi-degree-of-freedom laparoscopic surgery simulation force feedback device according to claim 2, characterized in that, A turntable is rotatably connected to the bottom surface of the base plate. A turbine is provided around the periphery of the turntable, and a worm gear that cooperates with the turbine is rotatably provided on the base plate.

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