Depth measurement puncture needle simulation effector and system
By designing a depth measurement puncture needle simulation effector in virtual teaching, using resistance change feedback and force feedback equipment combined with VR system, the synchronous display of the puncture needle insertion depth is achieved, solving the problem of inconsistency between depth in virtual and real environments, and improving the The students' operation accuracy and teaching effectiveness are achieved.
Patent Information
- Application Number
- CN202420289763.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-02-08
- Publication Date
- 2024-12-31
- Estimated Expiration
- 2034-02-08
AI Technical Summary
In existing virtual teaching, it is difficult to synchronize the insertion depth of the puncture needle with the insertion depth of the puncture needle in the real environment, which makes it difficult for students to accurately obtain the insertion depth and velocity data during simulation training.
Design a depth measurement puncture needle simulation effector, including conductive inner core, array shrapnel and acquisition controller, to realize the depth measurement of the puncture needle through resistance change feedback, and combine force feedback equipment and VR teaching system to achieve virtual and realistic depth Synchronous display.
By accurately measuring the insertion depth and strength of the puncture needle, students' practical operation level is improved, the traditional training method that relies on feelings is changed, and the accuracy and reliability of teaching are enhanced.
Smart Images
Figure CN222281433U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of medical simulation teaching tools, in particular to a depth measurement puncture needle simulation effector and system. Background Art
[0002] The puncture needle is a medical device used for tissue sampling and injection treatment of various organs such as kidney, liver, lung, breast, thyroid, prostate, pancreas, testicle, uterus, ovary, body surface, etc. in minimally invasive surgery. The operation of the puncture needle in clinical practice plays an important role in the success of the operation. In teaching practice, in order to improve the practical operation level, students need to conduct simulation training of puncture needles. The existing methods rely on feeling and conduct training on simulated tissues. This method simply relies on people's self-feeling to know the training results, and cannot provide accurate data support for the insertion depth, etc. In view of this, this design proposes a depth measurement puncture needle simulation effector and system that combines the existing VR technology with medical teaching courses, so that it can realize synchronous virtual display while training. Utility Model Content
[0003] The purpose of the utility model is to overcome the shortcomings of the prior art, adapt to actual needs, and provide an apparatus for realizing puncture depth feedback in virtual teaching, so as to solve the technical problem of synchronizing the puncture needle insertion depth in a virtual scene with the puncture needle insertion depth in a real environment in current virtual teaching.
[0004] In order to achieve the purpose of the utility model, the technical solution adopted by the utility model is:
[0005] The utility model discloses a puncture needle simulation effector for realizing depth measurement in virtual teaching, comprising a rod-shaped or plate-shaped conductive inner core, an array shrapnel with a plurality of shrapnels at intervals, a simulator shell, and a collection controller, wherein the simulator shell is tubular and has an upper end opening, the array shrapnel is located in the simulator shell, and the array shrapnel is electrically connected to the collection controller; the inner core can be inserted into the simulator shell through the upper end opening of the simulator shell and electrically contact with at least one shrapnel in the array shrapnel, and when the inner core gradually moves downward from the upper end to the lower end of the simulator shell, the inner core contacts with the shrapnel on the array shrapnel in sequence and the number of contacts gradually increases and causes resistance change, and the collection controller electrically contacts with the array shrapnel and collects the resistance change value of the array shrapnel and then outputs it. It also includes a force feedback device and a VR teaching system, wherein the depth measurement puncture needle simulation effector is connected to the force feedback device, and the output end of the force feedback device is connected to the VR teaching system. The VR teaching system synchronizes the insertion depth of the virtual puncture needle in teaching and the puncture needle simulation effector by analyzing the data uploaded by the force feedback device.
[0006] The inner core is in the shape of a metal rod or a plate and a gripping end is arranged at the top of the inner core.
[0007] The array spring pieces include a plate-shaped or rod-shaped metal body, and a plurality of the spring pieces are spaced apart along the axial direction of the metal body.
[0008] The fixing portion of the spring sheet is fixed on the metal body, the contact end of the spring sheet is suspended in an arc shape, and the contact end of the spring sheet is bent toward the metal body.
[0009] The acquisition controller comprises a single chip microcomputer, and the acquisition controller is installed in an acquisition controller housing.
[0010] The acquisition controller shell is threadedly connected or plugged and installed on the bottom of the simulator shell.
[0011] A magnetic connector is connected to the bottom of the acquisition controller housing, and the acquisition controller is electrically connected to the magnetic connector.
[0012] The utility model also discloses a depth measurement puncture needle simulation effector for virtual teaching, using the depth measurement puncture needle simulation effector as described above, and also including a force feedback device and a VR teaching system. The depth measurement puncture needle simulation effector is connected to the force feedback device through an acquisition controller, the output end of the force feedback device is connected to the VR teaching system and the data output by the force feedback device is displayed as a virtual puncture needle in a VR environment, and the inner heart insertion depth of the virtual puncture needle in the VR environment and the inner heart insertion depth of the depth measurement puncture needle simulation effector are synchronized.
[0013] The acquisition controller is communicatively connected to the force feedback device via a magnetic connector.
[0014] The beneficial effects of the utility model are:
[0015] The implementation of the utility model can make use of the existing VR technology and combine it with medical teaching courses. The use of the depth measurement puncture needle simulation effector can realize the interaction between virtual and reality, change the traditional way of relying solely on sensory connection, and can more accurately obtain data such as force and depth, which is conducive to improving students' practical operation level. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 It is a schematic diagram of the main structure of the utility model;
[0017] Figure 2 This is a schematic diagram of the axial cross-section structure of the utility model;
[0018] Figure 3 It is a schematic diagram of the structure of the inner core and the array spring pieces in the present utility model in a matching state;
[0019] Figure 4 This is a schematic diagram of the structure of the inner core, array springs, acquisition controller, and magnetic connector in the utility model;
[0020] Figure 5 for Figure 4 A schematic diagram of the enlarged structure of the middle part A;
[0021] Figure 6 This is a schematic diagram of the electrical principle of the depth measurement puncture needle simulation effect system of the utility model. DETAILED DESCRIPTION
[0022] The utility model is further described below in conjunction with the accompanying drawings and embodiments:
[0023] Example 1: A depth measurement puncture needle simulation effector, see Figures 1 to 5 .
[0024] It includes a rod-shaped or plate-shaped conductive inner core 5, an array spring plate 7 with a plurality of springs 6 arranged at intervals, a simulator shell 1, and a collection controller 8. The simulator shell 1 is tubular and has an upper end opening. The array springs are located in the simulator shell, and the array springs are electrically connected to the collection controller 8. During operation, the inner core 5 can be inserted into the simulator shell 1 through the upper end opening of the simulator shell 1 and electrically contact with at least one spring 6 in the array springs. When the inner core 5 gradually moves downward from the upper end to the lower end of the simulator shell 1, the inner core 5 contacts the springs 6 on the array springs in sequence, and the number of contacts gradually increases, resulting in resistance changes. The collection controller 8 electrically contacts the array springs and collects the resistance change value of the array springs and then outputs it. The matrix spring plate 7 is made of insulating material. The electrical connection mode of the springs on the matrix spring plate is (spring-resistance-spring-resistance...), the first spring is applied with a voltage V (the voltage range can be within the controller collection voltage range), and the last spring is connected to the collection controller 8. Each time the inner core 5 is inserted into a spring sheet spacing (the smaller the spacing, the higher the accuracy), that is, each time a spring sheet contact is added to the inner core 5, the effective resistance in series on the entire matrix spring sheet board will decrease by 1 resistance value (there is no specific restriction on the resistance value, assuming that the resistance value is R ohms), and the derivation process of converting the resistance change into the depth H is: Assuming that the current voltage collected by the acquisition controller 8 is v volts, the number of short-circuited resistors is (N is the total number of resistors, V is the voltage applied by the spring), that is, the insertion depth (where L is the total length of the matrix shrapnel), that is, the complete formula is depth
[0025] Specifically, the array spring piece in the present design includes a plate-shaped or rod-shaped metal body 7, a plurality of spring pieces 6 are arranged at intervals along the axial direction of the metal body 7, and the fixing portion of the spring piece 6 is fixed to the metal body 7, the contact end 9 of the spring piece 6 is suspended in an arc shape, and the contact end 9 of the spring piece is bent toward the metal body 7, see Figure 5 shown.
[0026] The acquisition controller 8 in this design includes a single chip microcomputer and peripheral circuits. The acquisition controller 8 is installed in the acquisition controller housing 3 and realizes the conversion and output of the resistance signal. The acquisition controller 3 housing is threaded or plugged into the bottom of the simulator housing 1. At the same time, a magnetic connector 4 is connected to the bottom of the acquisition controller housing 3. The acquisition controller 8 is electrically connected to the magnetic connector 3, and the magnetic connector 4 is convenient for connecting with external devices for data communication.
[0027] Furthermore, the inner core 5 in the present design is in the shape of a metal rod or plate and a gripping end 2 is provided at the top of the inner core, and the gripping end 2 facilitates the gripping and operation of the inner core 5 .
[0028] Example 2, a depth measurement puncture needle simulation effect system, see Figure 6 This embodiment uses the depth measurement puncture needle simulation effector described in Example 1.
[0029] It also includes a force feedback device and a VR teaching system. The depth measurement puncture needle simulation effector is connected to the force feedback device through an acquisition controller. The output end of the force feedback device is connected to the VR teaching system and the data output by the force feedback device is displayed as a virtual puncture needle in a VR environment. The inner heart insertion depth of the virtual puncture needle in the VR environment is synchronized with the inner heart insertion depth of the depth measurement puncture needle simulation effector.
[0030] In a specific implementation, the acquisition controller is communicatively connected to the force feedback device via a magnetic connector.
[0031] During operation of the system, the inner core 5 is held and slowly and gradually inserted into the simulator shell 1 through the upper opening of the simulator shell 1. After insertion, the inner core is in electrical contact with the spring pieces 6 in the array spring pieces, and when the inner core 5 gradually moves downward from the upper end to the lower end of the simulator shell 1, the inner core 5 contacts the spring pieces 6 on the array spring pieces in turn, and the number of contacts gradually increases and causes resistance changes. During this process, the inner core of the puncture needle is above the matrix spring pieces and in close contact with the spring pieces, and they form a sliding resistor. The depth measurement puncture needle simulation effector converts the insertion depth of the inner core into a resistance value change value through the number of spring pieces that contact the array spring pieces. When the inner core of the puncture needle is moved, the number of spring pieces contacted by the inner core of the puncture needle changes. The resistance values they constitute change, and the acquisition controller 8 is in electrical contact with the array shrapnel and acquires the resistance change value of the array shrapnel and its own ID data and then outputs it, and outputs it to the force feedback device through the magnetic connector. The force feedback device receives the depth data of the inner core insertion and outputs it to the display device. After the display device recognizes the ID of the depth measurement puncture needle simulation effector and the inner core insertion depth of the puncture needle in the VR environment, a virtual puncture needle will be displayed. The virtual puncture needle insertion depth is synchronized with the depth measurement puncture needle simulation effector. The above method is used to combine the existing VR technology with medical teaching courses to improve students' practical operation level.
[0032] The embodiments of the present invention disclose preferred embodiments, but are not limited thereto. A person skilled in the art can easily understand the spirit of the present invention based on the above embodiments and make different extensions and changes. However, as long as they do not deviate from the spirit of the present invention, they are all within the protection scope of the present invention.
Claims
1. A depth measurement puncture needle simulation effector, characterized in that: It includes a rod-shaped or plate-shaped inner core that is conductive, an array of shrapnel with a plurality of shrapnel arranged at intervals, a simulator shell, and a collection controller. The simulator shell is tubular and has an opening at the upper end. The array shrapnel is located in the simulator shell, and the array shrapnel is electrically connected to the collection controller. The inner core can be inserted into the simulator shell through the upper end opening and electrically contact with at least one shrapnel in the array shrapnel. When the inner core gradually moves downward from the upper end to the lower end of the simulator shell, the inner core contacts with the shrapnel on the array shrapnel in turn and the number of contacts gradually increases, resulting in a change in resistance. The collection controller electrically contacts with the array shrapnel and collects the resistance change value of the array shrapnel and then outputs it.
2. The depth measurement puncture needle simulation effector according to claim 1, characterized in that: The array spring pieces include a plate-shaped or rod-shaped metal body, and a plurality of the spring pieces are spaced apart along the axial direction of the metal body.
3. The depth measurement puncture needle simulation effector according to claim 2, characterized in that: The fixing portion of the spring sheet is fixed on the metal body, the contact end of the spring sheet is suspended in an arc shape, and the contact end of the spring sheet is bent toward the metal body.
4. The depth measurement puncture needle simulation effector according to claim 1, characterized in that: The acquisition controller comprises a single chip microcomputer, and the acquisition controller is installed in an acquisition controller housing.
5. The depth measurement puncture needle simulation effector according to claim 4, characterized in that: The acquisition controller shell is threadedly connected or plugged and installed on the bottom of the simulator shell.
6. The depth measurement puncture needle simulation effector according to claim 5, characterized in that: A magnetic connector is connected to the bottom of the acquisition controller housing, and the acquisition controller is electrically connected to the magnetic connector.
7. The depth measurement puncture needle simulation effector according to claim 1, characterized in that: The inner core is in the shape of a metal rod or a plate and a gripping end is arranged at the top of the inner core.
8. A depth measurement puncture needle simulation effector system, using the depth measurement puncture needle simulation effector according to any one of claims 1 to 7, including a force feedback device and a display device with a VR display system implanted therein, wherein the depth measurement puncture needle simulation effector is connected to the force feedback device through an acquisition controller, the output end of the force feedback device is connected to the display device and the data output by the force feedback device is displayed as a virtual puncture needle in a VR environment, and is synchronized with the inner core insertion depth of the depth measurement puncture needle simulation effector.
9. The depth measurement puncture needle simulation effect system according to claim 8, characterized in that: The acquisition controller is communicatively connected to the force feedback device via a magnetic connector.