A force feedback mechanism for simulation equipment

Abstract

This invention relates to the field of simulated surgical training equipment technology, specifically to a force feedback mechanism for simulating surgical equipment. The mechanism includes: a forward / backward state feedback component and a left / right state feedback component; a load-bearing sleeve mounted on a support via a pitch axis; a pitch state feedback component connected to the pitch axis; an operating mirror inserted into the load-bearing sleeve, moving forward or backward, with the movement distance and rotation angle detected by a laser sensor; the operating mirror and the load-bearing sleeve rotating as a whole, and the load-bearing sleeve and the pitch state feedback component rotating as a whole, with the pitch and left / right rotation angles detected by potentiometers. The force feedback mechanism provided by this invention provides tactile feedback with 4 degrees of freedom and 3 degrees of freedom response, acquiring the operating mirror's position, rotation angle, and corresponding speed. Combined with a 3D modeling scene in software, it simulates the position and posture of instruments within a 3D human body model. Algorithms control the motor to output different torques, making the simulated surgery more closely resemble the feel of real surgery.

Description

Technical Field

[0001] This invention relates to the field of simulation surgical training equipment technology, and in particular to a force feedback mechanism for simulating simulation equipment. Background Technology

[0002] Medical training, especially surgical training, involves a great deal of hands-on learning, enabling students, as well as experienced physicians learning new skills, to practice and develop the skills they need in a hands-on and immersive training environment so that they can be proficient in medical and surgical procedures.

[0003] In recent years, hysteroscopic surgery techniques and related equipment have made great progress, and the demand for hysteroscopic surgery medical professionals has been increasing year by year. This necessitates the training of more qualified hysteroscopic surgery medical professionals in a short period of time. In response to this situation, hysteroscopic surgery simulation systems have emerged.

[0004] Most hysteroscopic surgery simulation systems require a force feedback system to create a virtual surgical environment as realistically as possible. This necessitates that the force feedback system be as simple and compact as possible, while also possessing sufficient flexibility and a large range of motion. Existing hysteroscopic surgery virtual simulation training systems mostly employ simple serial structures, which, due to mechanical limitations, result in a relatively small actual range of motion. Adding torque motors or other drive mechanisms at each joint would increase the size and weight of the system, and this increased mass would further reduce the operator's force perception, thus affecting the training effect.

[0005] Based on the technical problems existing in the prior art, the present invention provides a force feedback mechanism for simulating simulation equipment. Summary of the Invention

[0006] The purpose of this invention is to provide a force feedback mechanism for simulating equipment, so as to solve the technical problems of existing simulated force feedback systems being heavy, bulky, and difficult to obtain a good clinical training experience similar to real devices, thus affecting the training effect.

[0007] The technical solution of the present invention is: a force feedback mechanism for simulating simulation equipment, including a load-bearing sleeve, the load-bearing sleeve being mounted on a bracket via a pitch axis, and a pitch state feedback component being connected to the pitch axis;

[0008] The operating mirror is inserted into the receiving sleeve along its length. Under the action of external force, the operating mirror moves forward or backward within the receiving sleeve. The forward or backward position or attitude of the operating mirror is detected and controlled by a front-back state feedback component mounted at the tail of the receiving sleeve. Under the action of external force, the operating mirror and the receiving sleeve rotate relative to the pitch axis. The pitch position or attitude of the operating mirror is detected and controlled by a pitch state feedback component. The bracket drives the receiving sleeve and the pitch state feedback component to rotate as a whole. The left or right position or attitude of the operating mirror is detected and controlled by a left-right state feedback component.

[0009] Preferably, the pitch axis is clamped on the load-bearing sleeve, and the axis of the pitch axis is orthogonal to the axis of the load-bearing sleeve; the load-bearing sleeve includes an inner core cylinder and an outer sleeve, and an oblique transmission assembly is provided on the side wall of the inner core cylinder, and the inner core cylinder is hollow and straight to form an operating channel; the frictional force between the inner wall of the operating channel and the operating mirror is transmitted through the oblique transmission assembly to drive the inner core cylinder to rotate, and a potentiometer is connected to the pitch axis, and the potentiometer is fixed on the side plate of the bracket to detect the rotation angle of the operating mirror's left and right rotation and pitch rotation.

[0010] Preferably, a receiving groove is provided on the side wall of the inner core cylinder, and the oblique transmission assembly includes a rotating wheel. The rotating wheel is assembled in the receiving groove by a pin, and the outer rim of the rotating wheel protrudes from the inner wall surface and the outer wall surface of the inner core cylinder; wherein, several rotating wheels in the same generatrix direction of the inner core cylinder are assembled at the same angle and with the same orientation.

[0011] Preferably, the pitch axis includes a snap-fit ​​shaft and a connecting shaft. The snap-fit ​​shaft is C-shaped, and the two arms of the C-shaped opening are connected to the connecting shafts on both sides. The straight line of the connecting shafts on both sides is orthogonal to the axis of the load-bearing sleeve. The connecting shafts on both sides are connected to a pair of side plates of the bracket through bearings.

[0012] Preferably, a photoelectric sensor and a laser sensor are provided at the inlet end of the accommodating sleeve for inserting the operation mirror. The photoelectric sensor is used to detect whether the operation mirror is inserted, and the laser sensor is used to obtain the rotation angle and movement distance of the operation mirror.

[0013] Preferably, the front and rear state feedback components adopt a combination of a first motor, a first synchronous pulley, and a first synchronous belt;

[0014] The first synchronous pulley is coaxially connected to the inner core cylinder, and the rotation of the inner core cylinder drives the first synchronous pulley and the first synchronous belt to run; wherein, when the first motor applies voltage, it simulates output resistance to the operating mirror.

[0015] Preferably, the pitch state feedback component employs a third motor, bevel gears, and motor gears meshing with the bevel gears, with the third motor fixed to one side plate of the bracket.

[0016] The bevel gear is mounted on the pitch axis and can pitch and rotate synchronously with the load sleeve and the pitch axis as a whole. When the third motor applies voltage, it simulates output resistance to the operating mirror.

[0017] Preferably, the left and right status feedback components are disposed at the bottom of the base plate of the bracket, and the left and right status feedback components adopt a combination of a second motor, a second synchronous pulley and a second synchronous belt;

[0018] The second synchronous pulley is connected to the base plate via a fixed shaft. The bracket and the load-bearing sleeve on the bracket rotate synchronously as a whole. When the second motor applies voltage, it simulates output resistance to the operating mirror.

[0019] Preferably, after the operating mirror is inserted into the receiving sleeve, it rotates left and right, and up and down. The rotation angles γ and β are obtained by the potentiometer, respectively. The moving distance L of the operating mirror is obtained by the laser sensor. The calculation method for the rotation angle and force feedback is as follows:

[0020] The position of the spatial coordinate point at the end of the operating mirror is ( );

[0021] Force feedback determines the direction and magnitude of the force to be applied based on the point's orientation in space, i.e., its position within the 3D scene; the resistance F for movement is the component of the force generated by the rolling friction of the rotating wheel through the pin.

[0022] ;

[0023] Where T is the torque of the first motor. The diameter of the upper wheel body of the first synchronous pulley. Let r be the diameter of the lower wheel of the first synchronous pulley, and r be the radius of the rotating wheel. This refers to the installation angle of the rotating wheel relative to the generatrix.

[0024] Compared with the prior art, the advantages of the present invention are:

[0025] This invention utilizes a sump sleeve with forward / backward, left / right, and pitch feedback components on its sides. When the operating mirror is inserted into the sump sleeve and moves forward or backward, its position and movement distance are detected by a laser sensor. The operating mirror and sump sleeve rotate as a whole, and a support structure drives the sump sleeve and pitch feedback components to rotate left / right. Potentiometers detect the pitch and left / right rotation angles. The force feedback mechanism provided by this invention offers tactile feedback with four degrees of freedom and three degrees of freedom response, acquiring the operating mirror's position, rotation angle, and corresponding speed. Combined with a 3D modeling software scene, it simulates the position and posture of instruments within a 3D human body model, controlling the motor to distribute different force values, making the simulated surgery more closely resemble real-life tactile feedback. Attached Figure Description

[0026] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0027] Figure 1 This is a three-dimensional schematic diagram of the force feedback mechanism described in this invention;

[0028] Figure 2 This is an exploded view of the force feedback mechanism described in this invention;

[0029] Figure 3 This is a schematic diagram of a partial exploded connection of the load-bearing sleeve described in this invention;

[0030] Figure 4 This is a schematic diagram showing the connection of the load-bearing sleeve and the pitch status feedback component of the present invention on the support.

[0031] Figure 5 This is a schematic diagram of the inner core cylinder of the present invention;

[0032] Figure 6 This is a schematic diagram of the assembly of the rotating wheel on the inner core cylinder according to the present invention;

[0033] The components include: 1. Load-bearing sleeve; 2. Pitch shaft; 3. Bracket; 4. Pitch status feedback assembly; 5. Forward and backward status feedback assembly; 6. Left and right status feedback assembly; 7. Bearing;

[0034] 11. Inner core cylinder; 12. Outer sleeve; 13. Angled transmission assembly; 14. Photoelectric sensor; 15. Laser sensor; 16. Port seat; 21. Fastening shaft; 22. Connecting shaft; 31. Side plate; 32. Base plate; 33. Fixed shaft; 41. Bevel gear; 42. Motor gear; 43. Third motor;

[0035] 100. Operating channel; 101. Receiving slot; 131. Rotating wheel; 132. Pin;

[0036] 201, front end cover; 202, rear end cover; 203, potentiometer; 501, first synchronous pulley; 502, first synchronous belt; 601, second synchronous pulley; 602, second synchronous belt. Detailed Implementation

[0037] The present invention will be further described in detail below with reference to specific embodiments:

[0038] like Figure 1 As shown, an embodiment of the present invention provides a force feedback mechanism for simulating a simulation device, including a load-bearing sleeve 1, which is mounted on a bracket 3 via a pitch axis 2. The operating mirror is pluggable, and a front cover 201 is provided at the front inlet side of the load-bearing sleeve 1, and a rear cover 202 is provided at the rear end to protect the load-bearing sleeve 1.

[0039] See attached document Figure 2 The bracket 3 in this embodiment includes a pair of side plates 31 and a bottom plate 32. The side plates 31 are placed vertically and parallel to each other. The load-bearing sleeve 1 is placed between the two side plates 31. The two ends of the pitch shaft 2 are vertically assembled on the side plates 31 through bearings 7. A pitch state feedback component 4 is connected to the pitch shaft 2.

[0040] The housing sleeve 1 includes an inner core cylinder 11 and an outer sleeve 12. The inner core cylinder 11 is hollow and has a straight passage forming an operating channel 100 for inserting and moving the operating mirror.

[0041] A photoelectric sensor 14 and a laser sensor 15 are installed at the inlet end of the load-bearing sleeve 1 via a port seat 16, as shown in the attached diagram. Figure 3 As shown, the photoelectric sensor 14 is set at the top of the inlet end to detect whether the operating mirror is inserted and to reset the value of the laser sensor 15. The laser sensor 15 acquires the rotation angle of the operating mirror, the entry and exit value (movement distance) during the movement, and the rotation angle value, so the forward distance L and the rotation amount α of the operating mirror can be obtained.

[0042] An oblique transmission assembly 13 is provided on the side wall of the inner core cylinder 11. During operation, under the action of external force, the operating mirror moves forward or backward in the accommodating sleeve 1. The frictional force between the inner wall of the operating channel 100 and the operating mirror is transmitted through the oblique transmission assembly 13 to drive the inner core cylinder 11 to rotate. The force feedback state of the operating mirror is detected by the front and rear state feedback assembly 5 assembled at the tail of the accommodating sleeve 1.

[0043] The inner core cylinder 11 has a receiving groove 101 on its side wall. The oblique transmission assembly 13 includes a rotating wheel 131, which is mounted in the receiving groove 101 via a pin 132. (Refer to the attached drawing.) Figure 6The outer rim of the rotating wheel 131 protrudes from the inner and outer walls of the inner core cylinder 11; the operating mirror enters the operating channel 100 and contacts the rotating wheel 131, generating mutual friction. Under the action of friction, the inner core cylinder 11 rotates, driving the front and rear status feedback component 5 at the tail to run and perform detection.

[0044] Specifically, in this embodiment, the front and rear state feedback component 5 adopts a combination of a first motor, a first synchronous pulley 501 and a first synchronous belt 502, with the first synchronous pulley 501 coaxially connected to the inner core cylinder 11.

[0045] When the operator uses the operating mirror, the mirror rotates within the operating channel 100 of the inner core cylinder 11. The rotation of the inner core cylinder 11 drives the first synchronous pulley 501 and the first synchronous belt 502. At this time, if voltage is applied to the first motor, it generates a pushing force or resistance, simulating the actual resistance generated during movement or surgery, and providing force feedback. The movement distance of the operating mirror is calculated. Based on the 3D modeling scene in hysteroscopic surgery, different force values ​​can be allocated to the first motor according to different situations or positions, making the simulated surgery closer to the real feel.

[0046] Among them, refer to the appendix Figure 5 As shown, the angles and orientations of several rotating wheels 131 on the same generatrix of the inner core cylinder 11 are the same, and the deflection angles and orientations of the rotating wheels 131 arranged on adjacent generatrixes are the same.

[0047] The tilt angle of the rotating wheel 131 relative to the generatrix is ​​within 45 degrees. The size of the angle is related to the magnitude of the resistance; the larger the angle, the greater the resistance. If the angle is too large, the rotation will not be smooth and may jam. Furthermore, within the set angle range of the rotating wheel 131, the greater the number of motor rotations required to move the same distance, the greater the resistance.

[0048] The pitch axis 2 includes a snap-fit ​​shaft 21 and a connecting shaft 22. The connecting shafts 22 on both sides are connected to a pair of side plates 31 of the bracket 3 via bearings 7. The snap-fit ​​shaft 21 is C-shaped, with the two arms of the C-shaped opening connected to the connecting shafts 22 on both sides. The C-shaped opening faces downward and is clamped to the load-bearing sleeve 1. The straight line of the connecting shafts 22 on both sides is orthogonal to the axis of the load-bearing sleeve 1, ensuring that the central axis of the load-bearing sleeve 1 at the center hole of the pitch axis 2 is on the same horizontal plane, thus overcoming the torque generated by its own weight.

[0049] In this embodiment, the pitch state feedback component 4 employs a third motor 43, a bevel gear 41, and a motor gear 42 meshing with the bevel gear 41. The third motor 43 is fixed on one side plate 31 of the bracket 3, and the bevel gear 41 is mounted on the pitch axis 2, as shown in the attached figure. Figure 4 As shown in the image.

[0050] When the operator uses the operating mirror, the operating mirror rotates within the operating channel 100 of the inner core cylinder 11. The operating mirror and the load sleeve 1 rotate relative to the pitch axis 2 in the vertical plane, causing the pitch axis 2 to rotate synchronously. The potentiometer 203 installed on the pitch axis 2 is fixed in position. When the pitch rotates, the resistance changes, and the rotation angle is detected. Compared with the encoder, no reset action is required, which has the effect of cost reduction and gain.

[0051] At this time, if the third motor applies voltage, it will generate a driving force or resistance, driving the bevel gear 41 and the motor gear 42 to rotate, simulating the actual resistance generated during movement or surgery, and realizing force feedback. According to the 3D modeling scene in hysteroscopic surgery, the third motor can be controlled to distribute different force values ​​according to different situations or positions, making the simulated surgery closer to the real feel.

[0052] Under the action of external force, the operating mirror is inside the load sleeve 1. The bracket 3 drives the load sleeve 1 and the pitch status feedback component 4 to rotate as a whole, and the left and right rotation angle of the operating mirror is detected by the left and right status feedback component 6.

[0053] The left and right status feedback component 6 is set at the bottom of the base plate 32 of the bracket 3. The left and right status feedback component 6 adopts a combination of a second motor, a second synchronous pulley 601 and a second synchronous belt 602. The second synchronous pulley 601 is connected to the base plate 32 through a fixed shaft 33. The bracket 3 and the load-bearing sleeve 1 on the bracket 3 rotate synchronously as a whole. The potentiometer 203 detects the rotation angle.

[0054] At this time, if voltage is applied to the second motor, it will generate a pushing force or a resistance force; simulate the actual resistance generated during movement or surgery, and provide force feedback. Based on the 3D modeling scene in hysteroscopic surgery, the second motor can be controlled to distribute different force values ​​according to different situations or positions, making the simulated surgery more closely resemble the real feel.

[0055] After the operating mirror is inserted into the housing sleeve 1, it can rotate left and right, as well as up and down. The rotation angle is achieved through a set of gears, allowing the potentiometer 203 to obtain a larger rotation angle, thereby improving the detection accuracy through amplification. The rotation angles γ and β can be obtained through the potentiometer 203, and the movement distance L of the operating mirror is obtained through the laser sensor 15. The calculation method for the rotation angle and force feedback is as follows:

[0056] The position of the spatial coordinate point at the end of the operating mirror is ( );

[0057] Force feedback determines the direction and magnitude of the force to be applied to a point based on its orientation in space, i.e., its position within the 3D scene.

[0058] The resistance F between the inlet and outlet is the component of the rolling friction of the rotating wheel 131 through the pin 132:

[0059] ;

[0060] Where T is the torque of the first motor. The diameter of the upper wheel body of the first synchronous pulley. Let r be the diameter of the lower wheel of the first synchronous pulley, and r be the radius of the rotating wheel 131. The installation angle of the rotating wheel 131 off the generatrix.

[0061] The force feedback mechanism provided by this invention is the core component of the hysteroscopic surgery simulation device. When combined, it can be regarded as the combined motion of the pitch state feedback component 4, the front-back state feedback component 5, and the left-right state feedback component 6. The spatial attitude and position of the end of the operating mirror are obtained through the potentiometer 203 and the laser sensor 15.

[0062] This force feedback mechanism has tactile feedback with 4 degrees of freedom and 3 degrees of freedom response. It can detect the operator's entry and exit position, rotation angle and corresponding speed, and spatial position of the instrument end when using the electrosurgical resection scope or operating scope for simulated training. Combined with the 3D modeling scene of the hysteroscopic surgery process constructed by software, it simulates the position and posture of the operating scope in the human body during hysteroscopic surgery and simulates the effect of the operating scope touching the inner wall of the tissue by controlling the motor to distribute different force values, making the simulated surgery closer to the real feel.

[0063] The above embodiments are merely illustrative of the technical concept and features of the present invention, intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and should not be construed as limiting the scope of protection of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of the present invention is defined by the appended claims rather than the foregoing description, and thus all changes falling within the meaning and scope of the equivalents of the claims are intended to be included within the present invention.

Claims

1. A force feedback mechanism for a simulation device, characterized by Includes a load-bearing sleeve (1), which is mounted on a bracket (3) via a pitch axis (2), and a pitch status feedback component (4) is connected to the pitch axis (2). The operating mirror is inserted into the load-bearing sleeve (1) along its length. Under the action of external force, the operating mirror moves forward or backward within the load-bearing sleeve (1). The forward and backward position or attitude of the operating mirror is detected by the forward and backward state feedback component (5) assembled at the tail of the load-bearing sleeve (1) and force feedback is controlled. Under the action of external force, the operating mirror and the load-bearing sleeve (1) rotate relative to the pitch axis (2). The pitch position or attitude of the operating mirror is detected by the pitch state feedback component (4) and force feedback is controlled. The bracket (3) drives the load-bearing sleeve (1) and the pitch state feedback component (4) to rotate as a whole. The left and right position or attitude of the operating mirror is detected by the left and right state feedback component (6) and force feedback is controlled. The load-bearing sleeve (1) includes an inner core cylinder (11) and an outer sleeve (12). An oblique transmission assembly (13) is provided on the side wall of the inner core cylinder (11). The inner core cylinder (11) is hollow and forms an operating channel (100). The frictional force between the inner wall of the operating channel (100) and the operating mirror is transmitted through the oblique transmission assembly (13) to drive the inner core cylinder (11) to rotate. The inner core cylinder (11) has a receiving groove (101) on its side wall. The oblique transmission assembly (13) includes a rotating wheel (131). The rotating wheel is assembled in the receiving groove (101) by a pin (132), and the outer rim of the rotating wheel (131) protrudes from the inner wall and outer wall of the inner core cylinder (11). The rotating wheels (131) in the same generatrix direction of the inner core cylinder (11) are assembled at the same angle and with the same posture.

2. A force feedback mechanism for a simulation device according to claim 1, wherein, The pitch shaft (2) is clamped on the load-bearing sleeve (1), and the axis of the pitch shaft (2) is orthogonal to the axis of the load-bearing sleeve (1); A potentiometer (203) is connected to the pitch axis (2). The potentiometer (203) is fixed on the side plate (31) of the bracket (3) and is used to detect the rotation angle of the left and right rotation and pitch rotation of the operating mirror.

3. The force feedback mechanism for simulating equipment according to claim 2, characterized in that, The pitch axis (2) includes a snap-fit ​​shaft (21) and a connecting shaft (22). The snap-fit ​​shaft (21) is C-shaped, and the two arms of the C-shaped opening are connected to the connecting shafts (22) on both sides. The straight line of the connecting shafts (22) on both sides is orthogonal to the axis of the load-bearing sleeve (1). The connecting shafts (22) on both sides are connected to a pair of side plates (31) of the bracket (3) through bearings (7).

4. A force feedback mechanism for simulating equipment according to claim 2, characterized in that, A photoelectric sensor (14) and a laser sensor (15) are provided at the inlet end of the accommodating sleeve (1) for inserting the operation mirror. The photoelectric sensor (14) is used to detect whether the operation mirror is inserted, and the laser sensor (15) is used to obtain the rotation angle and moving distance of the operation mirror.

5. A force feedback mechanism for simulating equipment according to claim 1, characterized in that, The front and rear state feedback component (5) adopts a combination of a first motor, a first synchronous pulley and a first synchronous belt; The first synchronous pulley is coaxially connected to the inner core cylinder (11), and the rotation of the inner core cylinder (11) drives the first synchronous pulley and the first synchronous belt to run; wherein, when the first motor applies voltage, it simulates output resistance to the operating mirror.

6. A force feedback mechanism for simulating equipment according to claim 2, characterized in that, The pitch state feedback component (4) uses a set of third motors (43), bevel gears (41) and motor gears (42) that mesh with the bevel gears (41). The third motors (43) are fixed on one side plate (31) of the bracket (3). The bevel gear (41) is mounted on the pitch axis (2) and can pitch synchronously with the load sleeve (1) and the pitch axis (2). When the third motor applies voltage, it simulates output resistance to the operating mirror.

7. A force feedback mechanism for simulating equipment according to claim 2, characterized in that, The left and right state feedback component (6) is located at the bottom of the base plate (32) of the bracket (3). The left and right state feedback component (6) adopts a combination of a second motor, a second synchronous pulley and a second synchronous belt. The second synchronous wheel is connected to the base plate (32) via a fixed shaft (33). The bracket (3) and the load-bearing sleeve (1) on the bracket (3) rotate synchronously as a whole. When the second motor applies voltage, it simulates the output resistance to the operating mirror.

8. A force feedback mechanism for simulating equipment according to claim 4, characterized in that, After the operating mirror is inserted into the housing sleeve (1), it rotates left and right, and up and down. The rotation angles γ and β are obtained by the potentiometer (203), respectively. The moving distance L of the operating mirror is obtained by the laser sensor (15). The rotation angle and force feedback calculation method are as follows: The position of the spatial coordinate point at the end of the operating mirror is ( ); Force feedback, based on the point's orientation in space, i.e., its position within the 3D scene, determines the direction and magnitude of the force required at that point; the resistance F for entering and exiting is the component force of the rolling friction of the rotating wheel (131) through the pin (132): ； Where T is the torque of the first motor. The diameter of the upper wheel body of the first synchronous pulley. Let r be the diameter of the lower wheel of the first synchronous wheel, and r be the radius of the rotating wheel (131). The installation angle of the rotating wheel (131) off the generatrix.

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