A device and method for operating force feedback of a minimally invasive surgery simulation training instrument

Abstract

The present invention discloses a manipulative force feedback device and method for minimally invasive surgery simulation training instruments in the technical field of medical auxiliary equipment. Among them, the experimental bench has a support shaft rod, the first rotating platform is symmetrically arranged on the support shaft rod and can rotate around the support shaft rod, the second rotating platform is installed on the first rotating platform and can horizontally rotate around the first rotating platform, the minimally invasive surgery instrument penetrates through the second rotating platform and can be telescopic relative to the second rotating platform, and the VR glasses are for the operator to wear. The manipulative force feedback device and method for minimally invasive surgery simulation training instruments provided by the present invention can more realistically simulate the tactile feedback during the surgical process through this force feedback mechanism, thereby improving the effect and safety of surgical training.

Description

Technical Field

[0001] The present invention relates to the technical field of medical auxiliary devices, and particularly to a device and method for operating force feedback of minimally invasive surgery simulation training instruments. Background Art

[0002] Minimally invasive surgery is one of the important development directions of modern medicine. Compared with traditional open surgery, minimally invasive surgery significantly shortens the patient's recovery time by reducing trauma, lowering the incidence of postoperative infection and complications, and is deeply favored by both doctors and patients. However, the operating environment of minimally invasive surgery is usually limited by a narrow field of view and indirect image guidance, which poses extremely high requirements on the doctor's hand-eye coordination ability, spatial perception ability, and operating precision. Especially for inexperienced doctors, how to proficiently master the operating skills of surgical instruments under a limited field of view is one of the main challenges in current minimally invasive surgery training.

[0003] As an important means of training doctors' operating skills, the minimally invasive surgery simulation training system can provide a safe and controllable training environment for trainees, avoiding harm to patients caused by operating errors in real surgery. The current simulation training system mainly relies on visual guidance and presents the surgical scene and instrument movement trajectory through virtual models. However, relying solely on visual feedback cannot comprehensively simulate the tactile and mechanical interaction characteristics in real surgery, and it is difficult to effectively improve the trainees' perception ability of the interaction force between the instrument and the tissue and the precise control ability of the operating force.

[0004] The introduction of force feedback technology provides important support for solving this problem. By real-time capturing and feedback the interaction force between the surgical instrument and the virtual tissue, the force feedback system can enable trainees to perceive the mechanical changes between the instrument and the tissue in real surgery during simulation training, helping them more intuitively master the operating skills and improve the accuracy and stability of the operation. However, the current application of force feedback technology in simulation training still faces many challenges, such as insufficient feedback accuracy, high response delay, and large system complexity, which restricts its popularization and application in surgical simulation training.

[0005] Therefore, designing a method and device for operating force feedback of minimally invasive surgery simulation training instruments with high precision, low latency, and easy operation, which can provide trainees with a real mechanical interaction experience and help them improve their minimally invasive surgery operating skills in a safe and controllable training environment, thus providing strong guarantee for the successful implementation of real surgery and the safety of patients, has important research value and application prospects. Summary of the Invention

[0006] The purpose of this section is to outline some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of the present application, to avoid obscuring the purpose of this section, the abstract, and the title, and such simplifications or omissions shall not be used to limit the scope of the present invention.

[0007] Therefore, an object of the present invention is to provide a device and method for operating force feedback of a minimally invasive surgical simulation training instrument. Through this force feedback mechanism, the tactile feedback during the surgical process can be more realistically simulated, thereby improving the effectiveness and safety of surgical training.

[0008] To solve the above technical problems, according to one aspect of the present invention, the following technical solutions are provided:

[0009] A device for operating force feedback of a minimally invasive surgical simulation training instrument, comprising:

[0010] An experimental table having a support shaft rod;

[0011] A first rotating platform symmetrically arranged on the support shaft rod and rotatable around the support shaft rod;

[0012] A second rotating platform installed on the first rotating platform and horizontally rotatable around the first rotating platform;

[0013] A minimally invasive surgical instrument passing through the second rotating platform and telescopic relative to the second rotating platform;

[0014] A VR glasses for the operator to wear. The operator wears the VR glasses, sees the virtual surgical environment, and realizes the synchronous operation of the virtual instrument by operating the actual minimally invasive surgical instrument, thereby completing the simulation training;

[0015] Wherein, a first force feedback device is provided at the front end of the minimally invasive surgical instrument, and a second force feedback device is provided at the grip of the minimally invasive surgical instrument.

[0016] As a preferred embodiment of the device for operating force feedback of a minimally invasive surgical simulation training instrument according to the present invention, wherein the first rotating platform internally includes a first servo motor, and the first servo motor collects the change in the pitch angle of the minimally invasive surgical instrument and provides corresponding force feedback according to the change in the pitch angle;

[0017] The second rotating platform internally includes a second servo motor and a third servo motor. The second servo motor is used to collect the change in the yaw angle of the minimally invasive surgical instrument and provides corresponding force feedback according to the change in the yaw angle;

[0018] The third servo motor is used to collect the depth change of the minimally invasive surgical instrument and provide corresponding force feedback according to the depth change;

[0019] A fourth servo motor is arranged at the front end of the second rotating platform. The fourth servo motor is used to collect the roll angle change of the minimally invasive surgical instrument and provide corresponding force feedback according to the roll angle change.

[0020] As a preferred solution of an operating force feedback device for a minimally invasive surgical simulation training instrument according to the present invention, wherein the first force feedback device is internally provided with a fifth servo motor. The fifth servo motor is used to simulate the mechanical response of the virtual tissue, calculate the interaction force in real time according to the hardness, friction and elastic characteristics of the virtual tissue, and convert it into force feedback to provide cutting resistance, friction and puncture force feedback;

[0021] The second force feedback device is internally provided with a sixth servo motor. The sixth servo motor provides grip force feedback, position feedback and fine control force perception according to the force feedback of the first force feedback device, the feedback of the first rotating platform and the second rotating platform, and the control actions of the operator, so that the operator can accurately perceive the mechanical characteristics of the virtual tissue and adjust the force feedback intensity according to the actual operation requirements.

[0022] An operating force feedback method for an operating force feedback device of a minimally invasive surgical simulation training instrument is as follows:

[0023] S1. Virtual force calculation:

[0024] Calculate the cutting force, friction and puncture force of the virtual tissue through a non-linear model, and weighted synthesize the virtual interaction force;

[0025] S2. Pose feedback calculation:

[0026] According to the pitch, yaw, roll angle and depth change of the minimally invasive surgical instrument collected by the first rotating platform and the second rotating platform, use a non-linear model to calculate the pose interaction feedback force with the virtual tissue;

[0027] S3. Force feedback simulation:

[0028] Convert the virtual interaction force and the pose feedback force into the operating force feedback of the operator through the servo motor and the non-linear feedback formula;

[0029] S4. Force feedback control:

[0030] Use the PID control algorithm to adjust the feedback force in real time according to the feedback error to ensure the stability and responsiveness of the feedback system;

[0031] S5. Closed-loop control:

[0032] Integrating the virtual interaction force, the pose feedback force, and the operation feedback force, real-time compensation and adjustment are performed through a closed-loop control system to ensure the synchronization of the operation force with the virtual environment.

[0033] As a preferred solution of the operation force feedback method for a minimally invasive surgery simulation training instrument according to the present invention, in step S1, the cutting force calculation formula for the virtual tissue is as follows:

[0034]

[0035] Wherein, is the cutting stiffness coefficient of the virtual tissue, is the depth of penetration of the surgical instrument, is the non-linear coefficient during the cutting process, indicating the transition from elastic to plastic, is the attenuation coefficient related to the cutting speed of the virtual tissue and the material yield behavior;

[0036] The friction force calculation formula for the virtual tissue is as follows:

[0037]

[0038] Wherein, is the dynamic friction coefficient, is the contact normal force, is the relative velocity of the contact point, and are the non-linear friction adjustment coefficients related to the contact surface, is the attenuation coefficient related to the contact surface material;

[0039] The puncture force calculation formula for the virtual tissue is as follows:

[0040]

[0041] Where, is the puncture stiffness coefficient of the virtual tissue, is the puncture depth, is the critical value of the puncture depth, indicating the non-linear turning point, is the correlation coefficient related to the puncture depth change rate, describing the dynamic response during the puncture process, is the strain rate index of the puncture force;

[0042] The virtual interaction force calculation formula is as follows:

[0043]

[0044] Wherein, is the weight coefficient, satisfying indicating the contribution of each force.

[0045] As a preferred solution of the operating force feedback method for a minimally invasive surgical simulation training instrument according to the present invention, in step S2, the first rotating platform measures the change value of the pitching angle of the minimally invasive surgical instrument through the first servo motor , and calculates the first pose feedback force according to this change . The specific calculation formula is as follows:

[0046]

[0047] Where is the stiffness coefficient related to the change of the pitching angle;

[0048] The second rotating platform measures the yaw angle change , depth change and roll angle change of the minimally invasive surgical instrument through the second servo motor, the third servo motor and the fourth servo motor respectively, and calculates the second pose feedback force according to this change. The specific calculation formula is as follows:

[0049]

[0050] Where is the stiffness coefficient related to the yaw and roll angles, is the stiffness coefficient related to the depth change.

[0051] As a preferred solution of the operating force feedback method for a minimally invasive surgical simulation training instrument according to the present invention, in step S3, the first force feedback device receives the interaction force from the virtual tissue, and transmits the first feedback force to the operator through the fifth servo motor. The specific formula is as follows:

[0052]

[0053] Where is the virtual force feedback coefficient, is the attenuation factor related to the cutting depth;

[0054] The second force feedback device receives the interaction force feedback from the first force feedback device and the pose feedback forces from the first rotating platform and the second rotating platform, and transmits the second feedback force to the operator through the six servo motors. The specific formula is as follows:

[0055]

[0056] Where is the adjustment factor, representing the relative influence of different feedback forces.

[0057] As a preferred solution of the operating force feedback method for a minimally invasive surgery simulation training instrument according to the present invention, in step S4, the formula of the PID control algorithm is as follows:

[0058]

[0059] Wherein, and are the adaptive parameters of the control system, used to automatically adjust the response speed according to the error size.

[0060] As a preferred solution of the operating force feedback method for a minimally invasive surgery simulation training instrument according to the present invention, in step S5, the closed-loop control formula of the closed-loop control system is:

[0061]

[0062] Wherein, is the sum of the virtual interaction forces, is the sum of the pose feedback forces provided by the rotating platform, is the sum of all force feedbacks, is the real-time compensation force based on the operator's operation behavior.

[0063] Compared with the prior art, the beneficial effects of the present invention are:

[0064] 1. The operating force feedback device and method for a minimally invasive surgery simulation training instrument provided by the present invention achieve highly realistic minimally invasive surgery simulation training. By integrating multiple servo motors and a rotating platform, the device can accurately simulate the pitch, yaw, roll angles and depth changes of a minimally invasive surgery instrument in a virtual environment, and provide real-time feedback such as cutting force, friction force and puncture force for interacting with virtual tissues, thereby significantly enhancing the immersion and operation accuracy of the operator in the simulation training.

[0065] 2. In addition, the present invention further optimizes the calculation and control process of force feedback through a non-linear model and a PID control algorithm. This not only ensures the stability and responsiveness of the feedback system, but also realizes the precise synchronization of the operating force and the virtual environment through a closed-loop control system, providing a more real and accurate minimally invasive surgery simulation training experience for the operator, and helping them better handle various complex situations in actual operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] To more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below in conjunction with the drawings and specific embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. Among them:

[0067] Figure 1 It is a schematic structural diagram of an operating force feedback device for a minimally invasive surgical simulation training instrument of the present invention;

[0068] Figure 2 It is a flowchart of an operating force feedback method for an operating force feedback device of a minimally invasive surgical simulation training instrument of the present invention. Specific Embodiments

[0069] To make the above objects, features, and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention will be described in detail below in conjunction with the drawings.

[0070] The present invention provides an operating force feedback device for a minimally invasive surgical simulation training instrument, as Figure 1 shown. The operating force feedback device for a minimally invasive surgical simulation training instrument includes two minimally invasive surgical instruments 400, two first rotating platforms 200, two second rotating platforms 300, two first force feedback devices 410, two second force feedback devices 420, a test bench 100, and VR glasses 500.

[0071] The test bench 100 has a support shaft rod 110, the first rotating platform 200 is symmetrically arranged on the support shaft rod 110 and can rotate around the support shaft rod 110. The second rotating platform 300 is installed on the first rotating platform 200 and can rotate horizontally around the first rotating platform 200. The minimally invasive surgical instrument 400 passes through the second rotating platform 300 and can be telescopic relative to the second rotating platform 300. The first force feedback device 410 is located at the front end of the minimally invasive surgical instrument 400, and the second force feedback device 420 is located at the grip of the minimally invasive surgical instrument 400. After the operator wears the VR glasses 500, the virtual surgical environment can be seen, and by operating the actual minimally invasive surgical instrument 400, the synchronous operation of the virtual instrument can be realized, thereby completing the simulation training.

[0072] Further, the first rotating platform 200 is internally provided with a first servo motor, and the first servo motor is used to collect the change in the pitching angle of the minimally invasive surgical instrument 400 and provide corresponding force feedback according to the change in the pitching angle.

[0073] Further, a second servo motor and a third servo motor are built in the second rotating platform 300. The second servo motor is used to collect the yaw angle change of the minimally invasive surgical instrument 400 and provide corresponding force feedback according to the change of the yaw angle.

[0074] The third servo motor is used to collect the depth change of the minimally invasive surgical instrument 400 for collecting the minimally invasive surgical instrument 400 and provide corresponding force feedback according to the change of the depth.

[0075] A fourth servo motor is arranged at the front end of the second rotating platform 300. The fourth servo motor is used to collect the roll angle change of the minimally invasive surgical instrument 400 and provide corresponding force feedback according to the change of the roll angle.

[0076] Further, a fifth servo motor is built in the first force feedback device 410. The fifth servo motor is used to simulate the mechanical response of the virtual tissue, calculate the interaction force in real time according to the hardness, friction and elasticity characteristics of the virtual tissue, and convert it into force feedback to provide cutting resistance, friction and puncture force feedback.

[0077] Further, a sixth servo motor is built in the second force feedback device 420. The sixth servo motor provides grip force feedback, position feedback and fine control force perception according to the force feedback of the first force feedback device 410, the feedback of the first rotating platform 200 and the second rotating platform 300, and the control actions of the operator, so that the operator can accurately perceive the mechanical characteristics of the virtual tissue and adjust the force feedback intensity according to the actual operation requirements.

[0078] Based on the above operation force feedback device of the minimally invasive surgical simulation training instrument, the present invention provides a method for operating force feedback of a minimally invasive surgical simulation training instrument, and the specific steps are as follows:

[0079] S1. Virtual force calculation:

[0080] Calculate the cutting force, friction force and puncture force of the virtual tissue through a non-linear model, and weighted synthesize the virtual interaction force;

[0081] S2. Pose feedback calculation:

[0082] According to the pitch, yaw, roll angle and depth change of the minimally invasive surgical instrument 400 collected by the first rotating platform 200 and the second rotating platform 300, use a non-linear model to calculate the pose interaction feedback force with the virtual tissue;

[0083] S3. Force feedback simulation:

[0084] Convert the virtual interaction force and the pose feedback force into the operation force feedback of the operator through the servo motor and the non-linear feedback formula;

[0085] S4. Force feedback control:

[0086] Using the PID control algorithm, the feedback force is adjusted in real time according to the feedback error to ensure the stability and responsiveness of the feedback system;

[0087] S5. Closed-loop control:

[0088] By integrating the virtual interaction force, the pose feedback force, and the operation feedback force, real-time compensation and adjustment are performed through the closed-loop control system to ensure the synchronization of the operation force with the virtual environment.

[0089] In step S1, virtual force calculation is used to simulate the interaction process between the minimally invasive surgical instrument and the virtual tissue. These interaction forces include cutting force, frictional force, puncture force, etc., and are mainly calculated through the physical properties of the virtual tissue (such as elasticity, friction coefficient, hardness, etc.). Among them, the calculation formula for the cutting force of the virtual tissue is as follows:

[0090]

[0091] Among them, is the cutting stiffness coefficient of the virtual tissue, is the depth of penetration of the surgical instrument, is the non-linear coefficient during the cutting process, indicating the transition from elasticity to plasticity, is the attenuation coefficient related to the cutting speed of the virtual tissue and the material yield behavior;

[0092] The calculation formula for the frictional force of the virtual tissue is as follows:

[0093]

[0094] Among them, is the dynamic friction coefficient, is the contact normal force, is the relative velocity of the contact point, and are the non-linear friction adjustment coefficients related to the contact surface, is the attenuation coefficient related to the contact surface material;

[0095] The calculation formula for the puncture force of the virtual tissue is as follows:

[0096]

[0097] Among them, is the puncture stiffness coefficient of the virtual tissue, is the puncture depth, is the critical value of the puncture depth, indicating the non-linear turning point, is the coefficient related to the puncture depth change rate, describing the dynamic response during the puncture process, is the strain rate exponent of the puncture force;

[0098] The virtual interaction force calculation formula is as follows:

[0099]

[0100] Among them, is the weight coefficient, satisfying represents the contribution of each force.

[0101] In step S2, the pose feedback calculation is based on the pose changes (including pitch angle, yaw angle, roll angle, and depth change) provided by the first rotating platform 200 and the second rotating platform 300 to calculate the corresponding feedback force. Specifically, the first rotating platform 200 measures the pitch angle change value of the minimally invasive surgical instrument 400 through the first servo motor , and calculates the first pose feedback force according to this change , and the specific calculation formula is as follows:

[0102]

[0103] Among them, is the stiffness coefficient related to the pitch angle change;

[0104] The second rotating platform 300 measures the yaw angle change , depth change and roll angle change of the minimally invasive surgical instrument 400 through the second servo motor, the third servo motor, and the fourth servo motor respectively, and calculates the second pose feedback force , and the specific calculation formula is as follows:

[0105]

[0106] Among them, is the stiffness coefficient related to the yaw and roll angles, is the stiffness coefficient related to the depth change.

[0107] In step S3, the first force feedback device 410 receives the interaction force from the virtual tissue and transmits the first feedback force to the operator through the fifth servo motor. The specific formula is as follows:

[0108]

[0109] Among them, is the virtual force feedback coefficient, is the attenuation factor related to the cutting depth;

[0110] The second force feedback device 420 receives the interactive force feedback from the first force feedback device 410 and the pose feedback force from the first rotating platform 200 and the second rotating platform 300, and transmits the second feedback force to the operator through six servo motors. The specific formula is as follows: It is transmitted to the operator, and the specific formula is as follows:

[0111]

[0112] Wherein, is an adjustment factor, representing the relative influence of different feedback forces.

[0113] In step S4, the PID control algorithm is used to adjust the feedback force in real time according to the force feedback error to ensure the stability and response speed of the feedback system. Different from the traditional PID control, this embodiment adopts an adaptive PID control formula based on the force feedback error:

[0114]

[0115] Wherein, and are the adaptive parameters of the control system, used to automatically adjust the response speed according to the error size.

[0116] In step S5, the system forms a closed-loop feedback through the real-time adjustment of the operator's operation, virtual force calculation, and pose feedback. The closed-loop control formula of the closed-loop control system is:

[0117]

[0118] Wherein, is the sum of virtual interaction forces, is the sum of pose feedback forces provided by the rotating platform, is the sum of all force feedbacks, is the real-time compensation force based on the operator's operation behavior.

[0119] Through the above steps, the present invention can accurately simulate the interaction process between the surgical instrument and the virtual tissue, and provide instant and real operation force feedback for the operator through the rotating platform and the force feedback device, enhancing the practicability and effectiveness of minimally invasive surgery simulation training.

[0120] Although the present invention has been described above with reference to the embodiments, various modifications thereof can be made and components thereof can be replaced with equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the features in the embodiments disclosed in the present invention can be combined with each other in any way, and the exhaustive description of these combinations is not given in this specification only for the sake of saving space and resources. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. An operation force feedback method based on an operation force feedback device of a minimally invasive surgery simulation training instrument, wherein: The minimally invasive surgery simulation training instrument operation force feedback device includes: A test bench (100) having a supporting shaft (110); A first rotating platform (200) is symmetrically arranged on the supporting shaft (110) and can rotate around the supporting shaft (110); A second rotating platform (300) is installed on the first rotating platform (200) and can rotate horizontally around the first rotating platform (200); A minimally invasive surgical instrument (400) passes through the second rotating platform (300) and can be extended and retracted relative to the second rotating platform (300); VR glasses (500) are worn by an operator. When the operator wears the VR glasses (500), he or she sees a virtual surgical environment and realizes synchronous operation of the virtual instrument by operating an actual minimally invasive surgical instrument (400), thereby completing simulation training; wherein a first force feedback device (410) is provided at the front end of the minimally invasive surgical instrument (400), and a second force feedback device (420) is provided at the grip of the minimally invasive surgical instrument (400), and the operation force feedback method comprises the following steps: S1. Virtual force calculation: The cutting force, friction force and puncture force of virtual tissue are calculated through nonlinear model, and the virtual interaction force is weighted and synthesized; S2. Posture feedback calculation: According to the pitch, yaw, roll angle and depth changes of the minimally invasive surgical instrument (400) collected by the first rotating platform (200) and the second rotating platform (300), a nonlinear model is used to calculate the posture interaction feedback force with the virtual tissue; S3. Force feedback simulation: The virtual interaction force and posture feedback force are converted into the operator's operating force feedback through the servo motor and nonlinear feedback formula; S4, force feedback control: Using PID control algorithm, the feedback force is adjusted in real time according to the feedback error to ensure the stability and responsiveness of the feedback system; S5, closed loop control: Comprehensive virtual interaction force, posture feedback force and operation feedback force, through the closed-loop control system real-time compensation adjustment to ensure the synchronization of operation force and virtual environment; In step S1, the cutting force calculation formula of the virtual tissue is as follows: Among them, K cut is the cutting stiffness coefficient of the virtual tissue, △x is the cutting depth of the surgical instrument, n is the nonlinear coefficient during the cutting process, indicating the transition from elasticity to plasticity, β cut is the attenuation coefficient related to the virtual tissue cutting speed and material yield behavior; The friction force calculation formula of the virtual tissue is as follows: Among them, μ dynamic is the dynamic friction coefficient, N is the contact normal force, v is the relative velocity of the contact point, γ friction and δ friction is the nonlinear friction adjustment coefficient related to the contact surface, α is the attenuation coefficient related to the contact surface material; The calculation formula of the puncture force of virtual tissue is as follows: Among them, K puncture is the puncture stiffness coefficient of the virtual tissue, △d is the puncture depth, d0 is the critical value of the puncture depth, indicating the nonlinear turning point, η puncture is the correlation coefficient of the puncture depth change rate, describing the dynamic response during the puncture process, α puncture is the strain rate exponent of the puncture force; The calculation formula of virtual interaction force is as follows: F virtual =ω cut ·F cut +oh friction ·F friction +oh puncture ·F puncture Among them, w cut ,w friction ,w puncture is the weight coefficient, satisfying w cut +w friction +w punctrue =1 indicates the contribution of each force; In step S2, the first rotating platform (200) measures the pitch angle change value △θ1 of the minimally invasive surgical instrument (400) through the first servo motor, and calculates the first posture feedback force F according to the pitch angle change value △θ1. pose1 , the specific calculation formula is as follows: F pose1 =K pose1 ·(△θ1) 2 Among them, K pose1 is the stiffness coefficient related to the pitch angle change; The second rotating platform (300) measures the yaw angle change △θ2, the depth change △d2 and the roll angle change △φ2 of the minimally invasive surgical instrument (400) respectively through the second servo motor, the third servo motor and the fourth servo motor, and calculates the second posture feedback force F according to the yaw angle change △θ2, the depth change △d2 and the roll angle change △φ2. pose2 , the specific calculation formula is as follows: F pose2 =(K pose2 ·(△θ2+△φ2) 2 )+K depth ·(△d2) 3 Among them, K pose2 is the stiffness coefficient related to yaw and roll angles, K depth is the stiffness coefficient associated with depth variation.

2. The operation force feedback method based on the operation force feedback device of the minimally invasive surgery simulation training instrument according to claim 1 is characterized in that: The first rotating platform (200) has a built-in first servo motor, which collects changes in the pitch angle of the minimally invasive surgical instrument (400) and provides corresponding force feedback according to the changes in the pitch angle; The second rotating platform (300) has a second servo motor and a third servo motor built therein, the second servo motor being used to collect changes in the yaw angle of the minimally invasive surgical instrument (400) and to provide corresponding force feedback according to the changes in the yaw angle; The third servo motor is used to collect depth changes of the minimally invasive surgical instrument (400) and provide corresponding force feedback according to the depth changes; A fourth servo motor is disposed at the front end of the second rotating platform (300), and the fourth servo motor is used to collect changes in the rolling angle of the minimally invasive surgical instrument (400) and provide corresponding force feedback according to the changes in the rolling angle.

3. The operation force feedback method based on the operation force feedback device of the minimally invasive surgery simulation training instrument according to claim 2 is characterized in that: The first force feedback device (410) has a built-in fifth servo motor, which is used to simulate the mechanical response of the virtual tissue, calculate the interaction force in real time according to the hardness, friction and elasticity characteristics of the virtual tissue, and convert it into force feedback to provide cutting force, friction force and puncture force feedback; The second force feedback device (420) has a built-in sixth servo motor, which provides gripping force feedback, position feedback and fine control force perception based on the force feedback of the first force feedback device (410), the feedback of the first rotating platform (200) and the second rotating platform (300) and the control action of the operator, so that the operator can accurately perceive the mechanical properties of the virtual tissue and adjust the force feedback intensity according to actual operation requirements.

4. The operation force feedback method based on the operation force feedback device of the minimally invasive surgery simulation training instrument according to claim 1 is characterized in that: In step S3, the first force feedback device (410) receives the interaction force F from the virtual tissue. virtual1 The first feedback force F is applied to feedback1 Passed to the operator, the specific formula is as follows: F feedback1 =K virtual1 ·F virtual1 ·e -β·△x Among them, K virtual1 is the virtual force feedback coefficient, β is the attenuation factor related to the cutting depth; The second force feedback device (420) receives the interactive force feedback from the first force feedback device (410) and the posture feedback force from the first rotating platform (200) and the second rotating platform (300), and converts the second feedback force F feedback2 Passed to the operator, the specific formula is as follows: F feedback2 =K virtual2 ·(α1·F feedback1 +α2·F pose1 +α3·F pose2 ) Among them, α1, α2, and α3 are adjustment factors, indicating the relative influence of different feedback forces.

5. The operation force feedback method based on the operation force feedback device of the minimally invasive surgery simulation training instrument according to claim 1 is characterized in that ,In step S4, the formula of PID control algorithm is as follows: Among them, γ and δ are adaptive parameters of the control system, which are used to automatically adjust the response speed according to the error size.

6. The operation force feedback method based on the operation force feedback device of the minimally invasive surgery simulation training instrument according to claim 1 is characterized in that: In step S5, the closed-loop control formula of the closed-loop control system is: F closed-loop =F virtual-total +F pose-total +F feedback-total +△F compensate Among them, F virtual-total is the sum of the virtual interaction forces, F pose-total =F pose1 +F pose2 is the sum of the posture feedback forces provided by the rotating platform, F feedback-total =F feedback1 +F feedback2 is the sum of all force feedback, △F compensate It is a real-time compensation force based on the operator's operating behavior.

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