Force feedback device for virtual surgery

Abstract

The utility model provides a force feedback device for a virtual operation. The force feedback device comprises a first motor, a second motor, a transmission mechanism and a force feedback operating rod, a first gear is arranged on an output shaft of the first motor, a first rotating shaft is arranged on the first motor, a second gear meshed with the first gear is arranged on the first rotating shaft, the tooth number of the second gear is larger than that of the first gear, and the second motor and the first rotating shaft rotate synchronously; a second rotating shaft and a third rotating shaft are arranged on the second motor, an output shaft of the second motor is in transmission connection with the second rotating shaft, a third gear is arranged on the second rotating shaft, a fourth gear meshed with the third gear is arranged on the third rotating shaft, and the tooth number of the fourth gear is larger than that of the third gear; the transmission mechanism is arranged between the force feedback control rod and the third rotating shaft. According to the force feedback device for the virtual operation, the defect that a force feedback device for the virtual operation in the prior art is insufficient in counterforce in virtual operation simulation can be overcome.

Description

Technical Field

[0001] The utility model relates to the technical field of medical instruments, in particular to a force feedback device for virtual surgery. Background Art

[0002] Virtual surgery is to use various medical imaging data and virtual reality technology to build a virtual environment, and doctors use the virtual environment to plan and train for surgery. Virtual surgery can help doctors develop surgical plans; it can also be repeated practice, reduce surgical training costs, and shorten the training period for surgeons. Virtual surgery has the advantages of low cost, zero risk, high repeatability, and automatic guidance, which is of great significance to medical surgery training.

[0003] With the popularization of the application of spinal surgery simulation machines, mechanical control rocker mechanisms have appeared in practical applications. However, spinal surgery simulation machines in the prior art have the following defects: the L motor and the C motor have insufficient resistance in virtual surgery simulation, and in the connecting rod mechanism, each connecting rod is fixed to the hinge point by a threaded connection. During the long-term movement of the device, the hinge points between the connecting rods are prone to loosening or even falling off.

[0004] Therefore, there is an urgent need for a force feedback device for virtual surgery that can solve the above problems. Utility Model Content

[0005] The utility model provides a force feedback device for virtual surgery, which is used to solve the defect of insufficient resistance force of the force feedback device for virtual surgery in the prior art during the virtual surgery simulation process.

[0006] The utility model provides a force feedback device for virtual surgery, comprising a first motor, a second motor, a transmission mechanism and a force feedback joystick;

[0007] The output shaft of the first motor is provided with a first gear, the first motor is provided with a first rotating shaft, the first rotating shaft is provided with a second gear meshing with the first gear, the number of teeth of the second gear is greater than the number of teeth of the first gear, and the second motor rotates synchronously with the first rotating shaft;

[0008] The second motor is provided with a second rotating shaft and a third rotating shaft, the output shaft of the second motor is drivingly connected with the second rotating shaft, the second rotating shaft is provided with a third gear, the third rotating shaft is provided with a fourth gear meshing with the third gear, and the number of teeth of the fourth gear is greater than the number of teeth of the third gear;

[0009] The transmission mechanism is arranged between the force feedback joystick and the third rotating shaft.

[0010] According to the force feedback device for virtual surgery provided by the utility model, a reduction box is provided between the output shaft of the second motor and the second rotating shaft, and the output shaft of the second motor and the second rotating shaft are transmission-connected via the reduction box.

[0011] According to the force feedback device for virtual surgery provided by the utility model, the reduction ratio of the reduction box is 1:10 to 1:3.

[0012] According to the force feedback device for virtual surgery provided by the utility model, the gear ratio between the first gear and the second gear is 1:10 to 1:2.

[0013] According to the force feedback device for virtual surgery provided by the utility model, the gear ratio between the third gear and the fourth gear is 1:5 to 1:2.

[0014] According to the force feedback device for virtual surgery provided by the utility model, the transmission mechanism includes a driving connecting rod, an intermediate connecting rod and a connecting piece, the first end of the driving connecting rod is sleeved on the third rotating shaft and rotates synchronously with the third rotating shaft, the second section of the driving connecting rod is hinged to the first end of the intermediate connecting rod, the second end of the intermediate connecting rod is hinged to the first end of the connecting piece, and the second end of the connecting piece is sleeved on the lower end of the force feedback joystick.

[0015] According to the force feedback device for virtual surgery provided by the utility model, a retaining spring for limiting the axial movement of the hinge shaft is provided at the hinged joint between the second end of the driving connecting rod and the first end of the intermediate connecting rod;

[0016] A retaining spring for limiting the axial movement of the hinge shaft is provided at the hinged position between the second end of the connecting member and the first end of the connecting member.

[0017] According to the force feedback device for virtual surgery provided by the utility model, a second card connector is provided at the end of the first rotating shaft, and a second card slot matching the second card connector is provided on the second motor.

[0018] According to the force feedback device for virtual surgery provided by the utility model, a first clamping joint is provided at the end of the third rotating shaft, and a first clamping groove matching the first clamping joint is provided at the end of the driving connecting rod.

[0019] According to the force feedback device for virtual surgery provided by the utility model, it also includes a fixed bracket, and the first motor is arranged on the fixed bracket.

[0020] The force feedback device for virtual surgery provided by the utility model provides a first gear and a second gear that mesh with each other on the first motor, and provides a third gear and a fourth gear that mesh with each other on the second motor. In the process of driving the force feedback joystick to move, the number of teeth of the first gear, the second gear, the third gear and the fourth gear are set, so that the output shafts of the first motor and the second motor amplify the torque through the reduction gear, amplify the resistance of the first motor and the second motor to the force feedback joystick, so that the overall resistance feeling of the device is improved during use, and the user experience is improved.

[0021] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 is a schematic diagram of a force feedback device for virtual surgery provided by an embodiment of the utility model;

[0024] Figure 2 It is a schematic diagram of a first motor in a force feedback device for virtual surgery provided by an embodiment of the utility model;

[0025] Figure 3 is a schematic diagram of a second motor in a force feedback device for virtual surgery provided by an embodiment of the utility model;

[0026] Figure 4 It is a schematic diagram of a transmission mechanism in a force feedback device for virtual surgery provided in an embodiment of the utility model.

[0027] Reference numerals:

[0028] 1. First motor; 2. Second motor; 201. Second slot; 3. Force feedback joystick; 4. First gear; 5. First rotating shaft; 501. Second clamping joint; 6. Second gear; 7. Second rotating shaft; 8. Third rotating shaft; 801. First clamping joint; 9. Third gear; 10. Fourth gear; 11. Speed ​​reducer; 12. Driving connecting rod; 1201. First slot; 13. Intermediate connecting rod; 14. Connecting piece; 15. Retaining spring; 16. Force feedback detection device. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described clearly and completely in conjunction with the drawings in the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0030] Combine the following Figure 1-Figure 4 The utility model describes a force feedback device for virtual surgery.

[0031] like Figure 1-Figure 4 As shown, an embodiment of the utility model provides a force feedback device for virtual surgery, comprising a first motor 1, a second motor 2, a transmission mechanism and a force feedback joystick 3;

[0032] A first gear 4 is provided on the output shaft of the first motor 1, a first rotating shaft 5 is provided on the first motor 1, a second gear 6 meshing with the first gear 4 is provided on the first rotating shaft 5, the number of teeth of the second gear 6 is greater than the number of teeth of the first gear 4, and the second motor 2 rotates synchronously with the first rotating shaft 5;

[0033] The second motor 2 is provided with a second rotating shaft 7 and a third rotating shaft 8, the output shaft of the second motor 2 is transmission-connected with the second rotating shaft 7, the second rotating shaft 7 is provided with a third gear 9, the third rotating shaft 8 is provided with a fourth gear 10 meshing with the third gear 9, and the number of teeth of the fourth gear 10 is greater than the number of teeth of the third gear 9;

[0034] The transmission mechanism is arranged between the force feedback joystick 3 and the third rotating shaft 8 .

[0035] In a specific embodiment of the utility model, a mounting seat is provided on the side where the output shaft of the first motor 1 is located, and the second rotating shaft 7 is arranged on the mounting seat, and the first rotating shaft 5 is parallel to the output shaft of the first motor 1. A mounting seat is provided on the side where the output shaft of the second motor 2 is located, and the second rotating shaft 7 and the third rotating shaft 8 are both arranged on the mounting seat, and the second rotating shaft 7, the third rotating shaft 8 and the output shaft of the second motor 2 are parallel to each other, and the second rotating shaft 7, the third rotating shaft 8 and the first rotating shaft 5 are perpendicular to each other. In the embodiment of the utility model, the counter-resistance of the first motor 1 and the second motor 2 is amplified by the gears meshing with each other, and the structure is simple and compact, and the magnitude of the counter-resistance of the first motor 1 and the second motor 2 can be arbitrarily adjusted by adjusting the corresponding gear ratio. In some embodiments, the first gear 4, the second gear 6, the third gear 9 and the fourth gear 10 can be replaced by the first pulley, the second pulley, the third pulley and the fourth pulley respectively. Belt transmission is adopted between the first pulley and the second pulley, and belt transmission is adopted between the third pulley and the fourth pulley. The diameter of the first pulley is smaller than the diameter of the second pulley, and the diameter of the third pulley is smaller than the diameter of the fourth pulley. The requirement of increasing the resistance of the first motor 1 and the second motor 2 can also be met, which can reduce costs.

[0036] It should be noted that, in some embodiments, the first rotating shaft 5 can be a gear shaft, and the second gear 6 can be mounted on the first rotating shaft 5 by key transmission. Similarly, the second rotating shaft 3 and the third rotating shaft 4 can be gear shafts, and the third gear 9 and the fourth gear 10 can be mounted on the second rotating shaft 7 and the third rotating shaft 8 respectively by key transmission.

[0037] like Figure 3 As shown, in the embodiment of the utility model, a reduction box 11 is provided between the output shaft of the second motor 2 and the second rotating shaft 7, and the output shaft of the second motor 2 and the second rotating shaft 7 are connected by transmission through the reduction box 11. By providing the reduction box 11 between the output shaft of the second motor 2 and the second rotating shaft 7, the antagonistic resistance applied by the second motor 2 to the force feedback joystick 3 can be further improved, and by controlling the reduction ratio of the reduction box 11, the antagonistic resistance applied by the second motor 2 to the force feedback joystick 3 can be further controlled. It is foreseeable that, in some embodiments, a reduction box can also be provided on the first motor 1, and the antagonistic resistance applied by the first motor 1 to the force feedback joystick 3 can be further improved through the reduction box.

[0038] In the embodiment of the utility model, the gear ratio of the first gear 4 to the second gear 6 is 1:10-1:2, preferably 1:5, the gear ratio of the third gear 9 to the fourth gear 10 is 1:5-1:2, preferably 1:2.5, and the reduction ratio of the reduction box 11 is 1:10-1:3, preferably 1:5. By setting appropriate gear ratios and reduction ratios, the resistance force applied by the first motor 1 and the second motor 2 to the force feedback joystick 3 can be within a preferred range, which is convenient for performing simulated surgery.

[0039] like Figure 4 As shown, in the embodiment of the utility model, the transmission mechanism includes a driving connecting rod 12, an intermediate connecting rod 13 and a connecting member 14. The first end of the driving connecting rod 12 is sleeved with the third rotating shaft 8 and rotates synchronously with the third rotating shaft 8. The second section of the driving connecting rod 12 is hinged with the first end of the intermediate connecting rod 13. The second end of the intermediate connecting rod 13 is hinged with the first end of the connecting member 14. The second end of the connecting member 14 is sleeved on the lower end of the force feedback joystick 3. When the force feedback joystick 3 is driven to move, the driving connecting rod 12, the intermediate connecting rod 13 and the connecting member 14 form a three-link mechanism, which is convenient for transmitting the driving force applied to the force feedback joystick 3 to the first motor 1 and the second motor 2, and then feeding back the opposing resistance of the first motor 1 and the second motor 2 to the force feedback joystick 3.

[0040] like Figure 4 As shown, in the embodiment of the utility model, a retaining spring 15 for limiting the axial movement of the hinge shaft is provided at the hinge of the second end of the driving connecting rod 12 and the first end of the intermediate connecting rod 13; a retaining spring 15 for limiting the axial movement of the hinge shaft is provided at the hinge of the second end of the connecting member 14 and the first end of the connecting member 14. It is easy to install, and will not loosen or fall off during long-term operation of the device.

[0041] In a specific embodiment of the utility model, the end of the third rotating shaft 8 is provided with a first clamping joint 801, and the end of the driving connecting rod 12 is provided with a first clamping groove 1201 matching the first clamping joint 801, so as to facilitate the driving connecting rod 12 to drive the third rotating shaft 8 to rotate, and the cross-sections of the first clamping joint 801 and the first clamping groove 1201 are set to be D-shaped, which has a simple structure and low assembly complexity. Thus, the opposing resistance of the second motor 2 is transmitted to the force feedback joystick 3. In some embodiments, the cross-sections of the first clamping joint 801 and the first clamping groove 1201 can also be set to other shapes, so long as the driving connecting rod 12 can drive the third rotating shaft 8 to rotate.

[0042] In a specific embodiment of the utility model, a second clamping joint 501 is provided at the end of the first rotating shaft 5, a second clamping groove 201 matching the second clamping joint 501 is provided on the second motor 2, and the cross-sections of the second clamping joint 501 and the second clamping groove 201 are set to be D-shaped, so that the second motor 2 can be driven to rotate by the first rotating shaft 5, and the structure is simple and the assembly complexity is low. In some embodiments, the cross-sectional shape of the second clamping joint 501 and the second clamping groove 201 can also be set to other shapes, so that the first rotating shaft 5 can drive the body of the second motor 2 to rotate. Of course, the first rotating shaft 5 can also drive the body of the second motor 2 to rotate by key transmission or the like.

[0043] In a specific embodiment of the utility model, the force feedback device for virtual surgery further includes a fixing bracket, and the first motor 1 is arranged on the fixing bracket, so as to facilitate fixing the first motor 1 .

[0044] In addition, in some embodiments, a force feedback detection device 16 may be provided to detect in real time the values ​​of the feedback forces of the first motor 1 and the second motor 2 on the force feedback joystick 3 to achieve quantitative analysis.

[0045] The following is a detailed description of the use of the force feedback device for virtual surgery provided by the utility model. Figure 1-Figure 4 .

[0046] like Figure 1 As shown, when in use, the first motor 1 is fixedly arranged on the fixed bracket. When the force feedback joystick 3 is driven to move in the up and down direction (the direction shown in the figure, the same below), the lower end of the force feedback joystick 3 transmits the motion to the second motor 2 through the above-mentioned three-bar linkage. At this time, the second motor 2 rotates around the first shaft 5, and drives the first gear 4 and the rotor of the first motor 1 to rotate through the second gear 6. Since the number of teeth of the second gear 6 is greater than the number of teeth of the first gear 4, the resistance of the first motor 1 to the force feedback joystick 3 can be amplified; when the force feedback joystick 3 is driven to move in the left and right direction, the lower end of the force feedback joystick 3 transmits the motion to the second motor 2 through the three-bar linkage, and drives the third shaft 8 to rotate. The fourth gear 10 on the third shaft 8 drives the second shaft 7 and the third gear 9 to rotate. The second shaft 7 is connected to the output shaft of the second motor 2 in a transmission manner. The second shaft 7 can further drive the rotor of the second motor 2 to rotate. Since the number of teeth of the fourth gear 10 is greater than the number of teeth of the third gear 9, the resistance of the second motor 2 to the force feedback joystick 3 can be amplified. It can be understood that when the force feedback joystick 3 is driven to move diagonally upward or downward, because it has components in the horizontal and vertical directions, the first motor 1 and the second motor 2 can simultaneously apply counter-resistance to the force feedback joystick 3, and amplify the counter-resistance applied by the first motor 1 and the second motor 2 to the force feedback joystick 3 through the above-mentioned gear structure.

[0047] It can be seen from the description of the above embodiments that the force feedback device for virtual surgery provided by the utility model has at least the following advantages:

[0048] The force feedback device for virtual surgery provided by the utility model is configured with a first gear 4 and a second gear 6 meshing with each other on the first motor 1, and a third gear 9 and a fourth gear 10 meshing with each other on the second motor 2. In the process of driving the force feedback joystick 3 to move, the number of teeth of the first gear 4, the second gear 6, the third gear 9 and the fourth gear 10 are set, so that the output shafts of the first motor 1 and the second motor 2 amplify the torque through the reduction gear, amplify the resistance of the first motor 1 and the second motor 2 to the force feedback joystick 3, so that the overall resistance feeling of the device is improved during use, and the user experience is improved.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. A force feedback device for virtual surgery, characterized in that: It includes a first motor, a second motor, a transmission mechanism and a force feedback joystick; The output shaft of the first motor is provided with a first gear, the first motor is provided with a first rotating shaft, the first rotating shaft is provided with a second gear meshing with the first gear, the number of teeth of the second gear is greater than the number of teeth of the first gear, and the second motor rotates synchronously with the first rotating shaft; The second motor is provided with a second rotating shaft and a third rotating shaft, the output shaft of the second motor is drivingly connected with the second rotating shaft, the second rotating shaft is provided with a third gear, the third rotating shaft is provided with a fourth gear meshing with the third gear, and the number of teeth of the fourth gear is greater than the number of teeth of the third gear; The transmission mechanism is arranged between the force feedback joystick and the third rotating shaft.

2. The force feedback device for virtual surgery according to claim 1, characterized in that: A reduction gearbox is provided between the output shaft of the second motor and the second rotating shaft, and the output shaft of the second motor and the second rotating shaft are transmission-connected via the reduction gearbox.

3. The force feedback device for virtual surgery according to claim 2, characterized in that: The reduction ratio of the reduction box is 1:10 to 1:

3.

4. The force feedback device for virtual surgery according to claim 1, characterized in that: The gear ratio between the first gear and the second gear is 1:10 to 1:

2.

5. The force feedback device for virtual surgery according to claim 1, characterized in that: The gear ratio between the third gear and the fourth gear is 1:5 to 1:

2.

6. The force feedback device for virtual surgery according to claim 1, characterized in that: The transmission mechanism includes a driving connecting rod, an intermediate connecting rod and a connecting member. The first end of the driving connecting rod is sleeved on the third rotating shaft and rotates synchronously with the third rotating shaft. The second section of the driving connecting rod is hinged to the first end of the intermediate connecting rod. The second end of the intermediate connecting rod is hinged to the first end of the connecting member. The second end of the connecting member is sleeved on the lower end of the force feedback joystick.

7. The force feedback device for virtual surgery according to claim 6, characterized in that: A retaining spring for limiting the axial movement of the hinge shaft is provided at the hinged joint between the second end of the driving connecting rod and the first end of the intermediate connecting rod; A retaining spring for limiting the axial movement of the hinge shaft is provided at the hinged position between the second end of the connecting member and the first end of the connecting member.

8. The force feedback device for virtual surgery according to claim 6 or 7, characterized in that: A first clamping joint is provided at the end of the third rotating shaft, and a first clamping groove matching the first clamping joint is provided at the end of the driving connecting rod.

9. The force feedback device for virtual surgery according to claim 1, characterized in that: A second clamping joint is provided at the end of the first rotating shaft, and a second clamping groove matching the second clamping joint is provided on the second motor.

10. The force feedback device for virtual surgery according to claim 1, characterized in that: It also includes a fixing bracket, and the first motor is arranged on the fixing bracket.

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