Ophthalmic operation simulator connection device and ophthalmic operation simulator device

Abstract

The utility model provides an ophthalmologic operation simulator connecting device which is used for connecting an instrument effector and a force feedback device, an instrument connecting seat is arranged at one end of the instrument effector, the ophthalmologic operation simulator connecting device comprises a connecting rod, a spherical hinge connecting seat and a spherical hinge, and the spherical hinge connecting seat and the spherical hinge are connected with the two ends of the connecting rod. The spherical hinge comprises a first spherical hinge support, a ball and a second spherical hinge support, a through hole is axially formed in the first spherical hinge support, the ball and the second spherical hinge support are arranged in the through hole, the ball abuts against one side of the second spherical hinge support, one end of the connecting rod is fixedly connected with the ball, and the other end of the connecting rod is fixedly connected with the second spherical hinge support. The end, away from the connecting rod, of the spherical hinge connecting base is used for being connected with the instrument connecting base in a sleeving mode. According to the connecting device of the ophthalmologic operation simulator, the spherical hinge connecting base matched with the instrument effector is arranged on the connecting assembly, replacement of different effectors is achieved, the force feedback device is connected with the small-size spherical hinge, and therefore the instrument effector and the force feedback device are connected.

Description

Technical Field

[0001] The utility model relates to the technical field of ophthalmic surgery simulation, in particular to an ophthalmic surgery simulator connection device and an ophthalmic surgery simulator device. Background Art

[0002] Cataract extraction surgery is a common ophthalmic surgery. The surgical area is concentrated in the front part of the eyeball, including areas such as the cornea, anterior chamber, iris, and lens. During the surgery, the patient is generally in a supine position, and the doctor holds the surgical instrument in a pen-holding posture, and inserts the tip of the instrument into the eye through an incision at the corneal edge of the patient for surgical operations. Cataract surgical instruments have some common features in the overall structure, such as the front-end structure having a fine size to facilitate insertion into the eye; an angular bend occurs from the front end to the middle section so that the front end is close to horizontal when the middle section is obliquely standing.

[0003] In order to improve the surgical proficiency, it is usually necessary to simulate the surgical scene through virtual ophthalmic surgery teaching products for surgical training. Most of the existing instrument effectors for ophthalmic surgery training do not have a force feedback function. Since such effectors do not have a feedback force, the simulation training effect is poor. And some instrument effectors with a force feedback function usually directly connect the instrument effector to the force feedback device in a fixed connection manner. Such an instrument effector cannot ensure that the tip of the instrument coincides with the force feedback output point, and cannot rotate flexibly around the force feedback point. Therefore, it does not have an accurate force feedback function, and it is also inconvenient to replace the effector. Summary of the Utility Model

[0004] Aiming at the deficiencies of the prior art, the purpose of the utility model is to provide an ophthalmic surgery simulator connection device, aiming to solve the technical problems in the prior art that there is a lack of a connection structure between the effector and the force feedback device, or directly connecting the instrument effector to the force feedback device cannot make the tip of the instrument effector coincide with the feedback output point of the feedback device, so that it cannot rotate flexibly around the force feedback output point, and cannot achieve mechanical replacement.

[0005] To achieve the above purpose, the utility model is realized by the following technical solutions: An ophthalmic surgery simulator connection device is used to connect an instrument effector and a force feedback device. One end of the instrument effector is provided with an instrument connection seat. The ophthalmic surgery simulator connection device includes a connecting rod, and a spherical hinge connection seat and a spherical hinge connected to both ends of the connecting rod. The spherical hinge includes a first spherical hinge support with a through hole axially arranged, and a ball and a second spherical hinge support arranged in the through hole. One side of the ball and the second spherical hinge support abuts, one end of the connecting rod is fixedly connected to the ball, and the end of the spherical hinge connection seat away from the connecting rod is used for sleeving the instrument connection seat.

[0006] Compared with the prior art, the beneficial effects of the present utility model are as follows: An ophthalmic surgery simulator connection device is provided between the instrument effector and the force feedback device. The ophthalmic surgery simulator connection device includes a ball joint connection seat detachably connected to the instrument connection seat, which can realize the replacement of the instrument effector device to adapt to different surgical scenarios. Moreover, the ophthalmic surgery simulator connection device further includes a ball joint fixedly connected to the force feedback device. A ball is provided inside the ball joint, and the center point of the ball coincides with the force feedback output point of the force feedback device. Thus, after the instrument effector is installed on the ophthalmic surgery simulator connection device, it can rotate at a certain angle around the feedback output point of the force feedback device to achieve the surgical simulation effect in space.

[0007] According to one aspect of the above technical solution, the through hole is a cylindrical cavity matching the diameter of the ball, and one end of the first ball joint support near the connecting rod extends in the radial direction of the through hole to form a conical surface for restricting the ball from sliding out.

[0008] According to one aspect of the above technical solution, the end of the first ball joint support away from the conical surface is provided with an internal thread, and the side surface of the second ball joint support is provided with an external thread matching the internal thread. The first ball joint support and the second ball joint support are threadedly connected.

[0009] According to one aspect of the above technical solution, the ball is a miniature bearing ball, and the ball is processed with an internal threaded hole by electric discharge machining.

[0010] According to one aspect of the above technical solution, the connecting rod is threadedly connected to the ball, and the connecting rod is threadedly connected to the ball joint connection seat.

[0011] According to one aspect of the above technical solution, the end of the second ball joint support away from the ball is provided with a slotted screwdriver for disassembly and assembly.

[0012] According to one aspect of the above technical solution, an electromagnet and a microswitch are provided inside the instrument connection seat, and a cavity for accommodating the ball joint connection seat is provided at one end of the instrument connection seat near the ball joint connection seat.

[0013] According to one aspect of the above technical solution, a magnet suction cup for triggering the microswitch inside the instrument connection seat is provided on one side of the ball joint connection seat away from the connecting rod.

[0014] According to one aspect of the above technical solution, the instrument effector further includes a surgical instrument connected to the instrument connection seat.

[0015] The present utility model further provides an ophthalmic surgery simulator device, including the ophthalmic surgery simulator connection device described in the above technical solution, an instrument effector detachably nested and connected to one end of the ball joint connection seat, and a force feedback device fixedly connected to the ball joint. Description of the Drawings

[0016] Figure 1 Schematic diagram of the structure of the ophthalmic surgery simulator connection device in the first embodiment of the present utility model;

[0017] Figure 2 Schematic diagram of the structure of the ball hinge structure in the first embodiment of the present utility model;

[0018] Description of the main component symbols: 1 - Ophthalmic surgery simulator connection device, 11 - Ball joint connection seat, 111 - Magnet suction cup, 12 - Ball hinge, 121 - First ball hinge support, 122 - Through hole, 123 - Internal thread, 124 - Ball, 125 - Second ball hinge support, 126 - External thread, 127 - Internal thread hole, 128 - Conical surface, 129 - One - word groove, 13 - Connecting rod, 2 - Instrument connection seat, 21 - Electromagnet, 22 - Micro - switch;

[0019] The following specific embodiments will further illustrate the present utility model in conjunction with the above - mentioned drawings. Specific Embodiments

[0020] For the convenience of understanding the present utility model, the present utility model will be described more comprehensively below with reference to the relevant drawings. Several embodiments of the present utility model are given in the drawings. However, the present utility model can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present utility model more thorough and comprehensive.

[0021] It should be noted that when an element is referred to as being "fixedly provided on" another element, it can be directly on the other element or there can also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for the purpose of illustration.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present utility model belongs. The terms used herein in the description of the present utility model are only for the purpose of describing specific embodiments and are not intended to limit the present utility model. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0023] Please refer to Figures 1 to 2, shown is a connection device for an ophthalmic surgery simulator in the first embodiment of the present utility model, which is used to connect an instrument effector and a force feedback device. One end of the instrument effector is provided with an instrument connection seat 2. The ophthalmic surgery simulator connection device 1 includes a connecting rod 13, and a spherical hinge connection seat 11 and a spherical hinge 12 connected to both ends of the connecting rod 13. The spherical hinge 12 includes a first spherical hinge support 121 axially provided with a through hole 122, as well as a ball 124 and a second spherical hinge support 125 arranged in the through hole 122. One side of the ball 124 abuts against the second spherical hinge support 125. One end of the connecting rod 13 is fixedly connected to the ball 124. The end of the spherical hinge connection seat 11 away from the connecting rod 13 is used to sleeved the instrument connection seat 2.

[0024] Wherein, one end of the first spherical hinge support 121 close to the connecting rod 13 extends towards the radial direction of the through hole 122 to form a conical surface 128 for restricting the ball 124 from sliding out, so that the ball 124 cannot slide out from the front end of the through hole 122. Also, because the end of the first spherical hinge support 121 away from the conical surface 128 is provided with an internal thread 123, and the side surface of the second spherical hinge support 125 is provided with an external thread 126 matching the internal thread 123, the first spherical hinge support 121 is threadedly connected to the second spherical hinge support 125, and the rear end of the through hole 122 is blocked, so as to limit the ball 124 in the through hole 122. It should be noted that a slotted hole 129 for disassembly and assembly is opened on the outer side surface of the second spherical hinge support 125. By using a tool to screw the second spherical hinge support 125 into the first spherical hinge support 121 through the slotted hole 129, the second spherical hinge support 125 pushes the ball 124 until the ball 124 just contacts the formed conical surface 128, then stop screwing in. At the same time, the second spherical hinge support 125 cannot be screwed into the first spherical hinge support 121 any further. It can be understood that there is a positional relationship between the ball 124 and the second spherical hinge support 125 where they are in contact but not squeezed.

[0025] Specifically, the through hole 122 is a cylindrical cavity matching the diameter of the ball 124. One end of the first spherical hinge support 121 close to the connecting rod 13 extends towards the radial direction of the through hole 122 to form a conical surface 128 for restricting the ball 124 from sliding out.

[0026] Please refer to Figure 2, in this embodiment, the connecting rod 13 and the ball 124 are connected by a threaded method. To improve the precision, an internal threaded hole 127 is machined inside the ball 124 by electric discharge machining to ensure that the surface of the ball 124 is not damaged. One end of the connecting rod 13 is provided with an external thread 126 that matches the internal threaded hole 127 of the ball 124. The internal threaded hole 127 and the external thread 126 cooperate, and the connecting rod 13 and the ball 124 form a threaded fixed connection. Since the connecting rod 13 is directly connected to the ball 124 and not directly connected to the first ball hinge support 121, the connecting rod 13 can rotate a certain angle along the rotation center of the ball 124; additionally, the other end of the connecting rod 13 is also connected to the ball hinge adapter 11 by a threaded connection, which is convenient for disassembly and assembly.

[0027] During installation, the first ball hinge support 121 in the ball hinge 12 of this embodiment is fixedly connected to one end of the force feedback device. When the ball hinge 12 is connected to the force feedback device, the center of the ball 124 in the ball hinge 12 coincides with the force feedback output point of the force feedback device. Then, the ball hinge adapter 11 is connected to the instrument effector. As can be understood from the above, the entire instrument effector and the ophthalmic surgery simulator docking device 1 can rotate flexibly and with low resistance within a certain angle around the force feedback output point of the force feedback device.

[0028] Among them, the instrument effector can be a surgical instrument for simulation training, such as scissors, forceps, etc. Its end is designed as a universal instrument docking seat 2, which is convenient for replacing different types of instrument effectors. A cavity is provided inside the instrument docking seat 2, and an electromagnet 12 and a microswitch 22 are fixedly arranged inside the cavity. When connecting to the ball hinge adapter 11, the ball hinge adapter 11 in the ophthalmic surgery simulator docking device 1 slides into the cavity of the instrument docking seat 2 along the limit groove provided on the instrument docking seat 2 to form a nested connection. Specifically, the ball hinge adapter 11 and the instrument docking seat 2 provided at one end of the instrument effector are detachably nested. Since a magnet suction cup 111 for triggering the microswitch 22 inside the instrument docking seat 2 is provided on the side of the ball hinge adapter 11 away from the connecting rod 13, when the ball hinge adapter 11 is embedded and connected to the instrument docking seat 2, the electromagnet 12 attracts the magnet suction cup 111, and the magnet suction cup 111 presses the microswitch 22 to trigger the signal of successful docking, which also represents the completion of the docking operation. At this time, the force feedback output point is the tip point of the instrument effector; it should be noted that since an effector is provided inside the instrument effector, and an attitude sensor is provided inside the effector, the three-direction angles of the effector in space can be obtained. Through the space angles and space coordinates, the spatial positioning of the effector can be realized, and through the internal algorithm, the coordinates of the tip point of the instrument effector are made to coincide with the coordinates of the force feedback point, so that the entire system can know the spatial position of the instrument in real time.

[0029] In summary, the ophthalmic surgery simulator docking device in the above embodiments of the present utility model is used to be installed between a force feedback device and an instrument effector. The ophthalmic surgery simulator docking device includes a ball joint with a rotatable micro-bearing ball inside for connecting with the force feedback device, and a ball joint docking seat connected to the ball inside the ball joint through a connecting rod. Among them, the ball joint is fixedly connected to the force feedback device, and the ball joint docking seat is detachably nested with the instrument docking seat, so that the present utility model, as an intermediate member, can realize the functions of disassembly and replacement of the instrument docking seat connected to one end of its ball joint docking seat. After the ball joint is connected to the force feedback device, the center of the ball inside the ball joint coincides with the force feedback output point, so that the instrument effector can rotate flexibly within a certain angle around the force feedback output point. Under the combined action of the effector and the internal computing power, the tip point coordinates of the instrument effector coincide with the force feedback output point coordinates, so that the present utility model, as an intermediate member, realizes the spatial coincidence simulation between the tip point of the instrument effector and the force feedback output point.

[0030] The ophthalmic surgery simulator device in the second embodiment of the present utility model is different from the ophthalmic surgery simulator docking device 1 in the first embodiment in that the present utility model further includes an instrument effector detachably nested with one end of the ball joint docking seat 11, and a force feedback device fixedly connected to the ball joint 12.

[0031] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0032] The above embodiments only represent several implementation manners of the present utility model, and their descriptions are relatively specific and detailed, but should not be construed as a limitation on the scope of the present utility model. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several deformations and improvements can still be made, and these all belong to the protection scope of the present utility model. Therefore, the protection scope of the present utility model should be subject to the appended claims.

Claims

1. An ophthalmic surgery simulator docking device for connecting an instrument effector and a force feedback device, with an instrument docking seat provided at one end of the instrument effector, characterized in that, The ophthalmic surgery simulator connection device includes a connecting rod, a spherical hinge connection seat and a spherical hinge connected to both ends of the connecting rod. The spherical hinge includes a first spherical hinge support with a through hole axially arranged, a ball and a second spherical hinge support arranged in the through hole. One side of the ball and the second spherical hinge support abuts, one end of the connecting rod is fixedly connected to the ball, and the end of the spherical hinge connection seat away from the connecting rod is used for sleeving the instrument connection seat.

2. The ophthalmic surgery simulator connection device according to claim 1, characterized in that, The through hole is a cylindrical cavity matching the diameter of the ball, and one end of the first spherical hinge support close to the connecting rod extends in the radial direction of the through hole to form a conical surface for restricting the ball from slipping out.

3. The ophthalmic surgical simulator connection device according to claim 2, wherein, The first spherical hinge support is provided with an internal thread at one end away from the conical surface, and the second spherical hinge support is provided with an external thread matching the internal thread on the side surface. The first spherical hinge support is threadedly connected to the second spherical hinge support.

4. The ophthalmic surgical simulator connection device according to claim 1, characterized in that, The ball is a miniature bearing ball, and an internal threaded hole is machined in the ball by electric discharge machining.

5. The ophthalmic surgical simulator connection device according to claim 1, wherein, The connecting rod is threadedly connected to the ball, and the connecting rod is threadedly connected to the spherical hinge connection seat.

6. The ophthalmic surgical simulator connection device according to claim 1, characterized in that, One end of the second spherical hinge support away from the ball is provided with a slotted screwdriver for disassembly and assembly.

7. The ophthalmic surgery simulator connection device according to claim 1, wherein The instrument connection seat is internally provided with an electromagnet and a microswitch, and a cavity for accommodating the spherical hinge connection seat is provided at one end of the instrument connection seat close to the spherical hinge connection seat.

8. The ophthalmic surgical simulator connection device according to claim 6, characterized in that, One side of the spherical hinge connection seat away from the connecting rod is provided with a magnet suction cup for triggering the microswitch inside the instrument connection seat.

9. The ophthalmic surgical simulator connection device according to claim 1, characterized in that, The instrument effector further includes a surgical instrument connected to the instrument connection seat.

10. An ophthalmic surgery simulator device, characterized in that, It includes an instrument effector, a force feedback device, and the ophthalmic surgery simulator connection device according to any one of claims 1 to 9. The spherical hinge connection seat of the ophthalmic surgery simulator connection device is detachably nested and connected to the instrument connection seat provided at one end of the instrument effector, and the spherical hinge of the ophthalmic surgery simulator connection device is fixedly connected to the force feedback device.

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