Puncture training equipment based on delta parallel mechanism

Abstract

The utility model relates to the technical field of medical puncture training, in particular to puncture training equipment based on a delta parallel mechanism, which comprises a base and a base, and a support is arranged on the front side of the base. Comprising a delta parallel mechanism, the delta parallel mechanism is provided with a driving end and a polymerization end, and a puncture needle is connected to the polymerization end in a penetrating mode; the device further comprises a torque generating mechanism, the torque generating mechanism comprises a motor, a semicircular force arm and a wire, the wire is connected between the output end of the motor and the semicircular force arm, and power is transmitted through wire driving. The motor is assembled on the support, the semicircular force arm is hinged to the support, and the driving end of the delta parallel mechanism is hinged to the semicircular force arm. Force feedback can be accurately simulated in the puncture training process, a more real puncture training effect is provided, high application precision is kept in the repeated use process, and the device is suitable for medical student training and has an extremely good market popularization prospect.

Description

Technical Field

[0001] This utility model relates to the field of medical puncture training technology, specifically to a puncture training device based on a delta parallel mechanism. Background Technology

[0002] Puncture procedures are a fundamental skill in clinical medicine, and puncture training equipment is a medical device used by medical students for puncture training. During actual punctures, the puncture needle passes through various tissues such as skin, bones, and blood vessels, and experiences force feedback from these tissues. Current puncture training medical devices lack force feedback functionality, resulting in ineffective puncture training. Utility Model Content

[0003] In view of the shortcomings of the prior art described above, the purpose of this utility model is to provide a puncture training device based on a delta parallel mechanism to solve the problem that the puncture training medical devices used in the prior art do not have force feedback function and the puncture training effect is poor.

[0004] To achieve the above and other related objectives, this utility model provides a puncture training device based on a delta parallel mechanism, including a base and a machine base connected to the base, with a support provided on the front of the machine base.

[0005] It includes a delta parallel mechanism, which has a driving end and a converging end. A puncture needle is threaded through the converging end, and the puncture end of the puncture needle punctures and enters the machine base along the center line of the delta parallel mechanism.

[0006] It also includes a torque generating mechanism, which includes a motor, a semi-circular lever arm, and a line. The line is connected between the output end of the motor and the semi-circular lever arm, and power is transmitted through the line drive. The motor is mounted on a bracket, the semi-circular lever arm is hinged to the bracket, and the drive end of the delta parallel mechanism is hinged to the semi-circular lever arm.

[0007] In one embodiment of this utility model, the delta parallel mechanism is a triangular cone component, including three equally distributed rectangular arms and a connecting member. One end of each of the three rectangular arms is simultaneously hinged to the connecting member to form a convergent end, and the puncture needle is inserted into the connecting member; the other end of each of the three rectangular arms is a driving end.

[0008] In one embodiment of the present invention, the semicircular lever arm has an inner cavity, and two openings that are relatively distributed and simultaneously penetrate the inner cavity are provided on the semicircular lever arm. A spring is connected in the inner cavity. A line is wound along the arc surface of the semicircular lever arm and its two ends enter the inner cavity from the two openings on the semicircular lever arm respectively. One end of the line is fixed in the inner cavity of the semicircular lever arm and the other end is connected to the spring, and the tension of the line is compensated by the spring.

[0009] In one embodiment of the present invention, a pull wheel is provided on the output end of the motor, and the wire wound around the semi-circular lever arm arc surface is simultaneously wound around the pull wheel.

[0010] In one embodiment of the present invention, an absolute encoder is provided on the bracket, and a radial magnetic ring corresponding to the distribution of the absolute encoder is provided on the hinge end of the semi-circular lever arm. The absolute encoder obtains the rotation angle of the radial magnetic ring to determine the position change of the semi-circular lever arm, and then obtains the change in the active angle and spatial displacement distance of the puncture needle passing through the convergence end of the delta parallel mechanism.

[0011] In one embodiment of this utility model, the motor is provided with a relative encoder, and the absolute encoder determines the number of rotations of the motor by acquiring the data changes of the relative encoder.

[0012] In one embodiment of the present invention, an outer cover is fitted on the front of the base to protect the torque generating mechanism.

[0013] In one embodiment of the present invention, a puncture cover is provided on the outer cover, and the puncture needle is movably inserted into the puncture cover through a bearing component.

[0014] In one embodiment of this utility model, the puncture cover is provided with holes, and the bearing component is installed in the holes of the puncture cover; the bearing component is a fisheye bearing.

[0015] In one embodiment of the present invention, a support foot is provided on the back of the base.

[0016] As described above, the puncture training device based on the delta parallel mechanism of this invention has the following beneficial effects:

[0017] This invention utilizes a delta parallel mechanism in conjunction with a synchronous puncture needle for puncture training. The delta parallel mechanism is characterized by its compact structure, high speed, and high precision. Its high speed, low inertia, and high accuracy make it suitable for high-precision puncture tasks. The delta parallel mechanism consists of three identical rectangular arms and a connecting component, resulting in a low overall weight-to-load ratio and good dynamic performance, enabling rapid and repeated puncture operations within a limited space. Furthermore, due to its inherent structural characteristics, the delta parallel mechanism has the advantage of no cumulative error, ensuring synchronous accuracy across multiple puncture training sessions. By incorporating a torque generation mechanism that uses a linear drive to provide feedback on the puncture motion, and using a spring to compensate for line tension, the accuracy of feedback for multiple puncture movements is effectively improved. The use of a relative encoder and an absolute encoder allows for more precise measurement of torque changes, thereby improving force feedback and training effectiveness. This invention accurately simulates force feedback during puncture training, providing a more realistic training effect, and maintains high application accuracy even with repeated use. It is suitable for medical student training and has excellent market potential. Attached Figure Description

[0018] Figure 1 The diagram shown is a schematic representation of the overall structure of this utility model.

[0019] Figure 2 The diagram shown is a partial breakdown of the overall structure of this utility model.

[0020] Figure 3 The diagram shown is an enlarged structural schematic of the delta parallel mechanism and the torque generating mechanism in this utility model.

[0021] Figure 4 The diagram shown is an enlarged structural schematic of the torque generating mechanism in this utility model.

[0022] Figure 5 The diagram shown is an enlarged structural schematic of a partial decomposition of the torque generating mechanism in this utility model.

[0023] Component designation explanation

[0024] 1. Base; 2. Mount; 3. Bracket; 4. Delta parallel mechanism; 41. Rectangular arm; 42. Connecting part; 5. Puncture needle; 6. Relative encoder; 7. Absolute encoder; 8. Radial magnetic ring; 9. Torque generating mechanism; 91. Motor; 92. Semi-circular lever arm; 921. Opening; 93. Wire; 94. Spring; 95. Pulling wheel; 10. Outer cover; 11. Puncture cover; 12. Bearing; 13. Support foot. Detailed Implementation

[0025] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification.

[0026] Please see Figures 1 to 5 It should be noted that the structures, proportions, sizes, etc., illustrated in the accompanying drawings are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the implementation conditions of this utility model. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and purposes that this utility model can produce, should still fall within the scope of the technical content disclosed in this utility model.

[0027] Please see Figures 1 to 5 This utility model provides a puncture training device based on a delta parallel mechanism, including a base 1 and a base 2 connected to the base 1. A support 3 is provided on the front of the base 2, and an outer casing 10 is also fitted on the front of the base 2. A puncture casing 11 is provided on the outer casing 10, and a puncture needle 5 is movably inserted into the puncture casing 11 via a bearing component 12. Specifically, the puncture casing 11 has holes, and the bearing component 12 is installed in the holes of the puncture casing 11. The bearing component 12 is a fisheye bearing, allowing the puncture needle 5 to move at multiple angles along the holes of the puncture casing 11. There is a gap between the puncture needle 5 and the bearing component 12, allowing the puncture needle 5 to slide and insert through the fisheye hole of the bearing with low resistance. A support foot 13 is provided on the back of the base 2, allowing the puncture robot to be repositioned for convenient operation by medical students.

[0028] The puncture training device includes a delta parallel mechanism 4, which has a driving end and a converging end. A puncture needle 5 is threaded through the converging end, and the puncture end of the puncture needle 5 punctures and enters the machine base 2 along the center line of the delta parallel mechanism. Specifically, the delta parallel mechanism 4 is a triangular pyramidal component, including three equally distributed rectangular arms 41 and a connecting member 42. One end of each of the three rectangular arms 41 is simultaneously hinged to the connecting member 42 to form a converging end, and the puncture needle 5 passes through the connecting member 42. The other end of each of the three rectangular arms 41 is a driving end. This invention utilizes d The delta parallel mechanism 4 guides the puncture needle 5 for puncture training. The delta parallel mechanism 4 features a compact structure, high speed, and high precision. Its fast movement speed, low inertia, and high precision make it suitable for high-precision puncture tasks. The delta parallel mechanism 4 consists of three identical rectangular arms 41 and a connecting part 42. It has a low overall self-weight load ratio and good dynamic performance, enabling it to perform puncture operations quickly and repeatedly in a limited space. Furthermore, due to its own structural characteristics, the delta parallel mechanism 4 has the advantage of no cumulative error, ensuring the synchronous accuracy of multiple puncture training sessions.

[0029] The puncture training device also includes a torque generating mechanism 9, which includes a motor 91, a semi-circular lever arm 92, and a line 93. The line 93 is connected between the output end of the motor 91 and the semi-circular lever arm 92, and power is transmitted through the line 93. The motor 91 is mounted on the bracket 3, the semi-circular lever arm 92 is hinged on the bracket 3, and the driving end of the delta parallel mechanism 4 is hinged on the semi-circular lever arm 92. The semicircular lever arm 92 has an inner cavity, and two openings 921 are provided on the semicircular lever arm 92 that are oppositely distributed and simultaneously penetrate the inner cavity. A spring 94 is connected in the inner cavity. A line 93 is wound around the arc surface of the semicircular lever arm 92, and its two ends enter the inner cavity from the two openings 921 on the semicircular lever arm 92 respectively. One end of the line 93 is fixed in the inner cavity of the semicircular lever arm 92, and the other end is connected to the spring 94. The spring 94 compensates for the line tension. A pull wheel 95 is provided on the output end of the motor 91. The line 93 wound around the arc surface of the semicircular lever arm 92 is simultaneously wound on the pull wheel 95. The torque generating mechanism 9 uses a line drive to provide feedback on the piercing motion. The line drive is used in conjunction with the spring 94 to compensate for the line tension, effectively improving the feedback accuracy for multiple piercing motions.

[0030] An absolute encoder 7 is installed on the bracket 3. Radial magnetic rings 8, corresponding to the absolute encoder 7, are installed on the hinge end of the semi-circular lever arm 92. The absolute encoder 7 determines the positional change of the semi-circular lever arm 92 by acquiring the rotation angle of the radial magnetic rings 8, and thus acquires the change in the active angle and spatial displacement distance of the puncture needle 5, which is connected to the convergence end of the delta parallel mechanism 4. A relative encoder 6 is installed on the motor 91. The absolute encoder 7 determines the number of rotations of the motor 91 by acquiring the data changes of the relative encoder 6. Specifically, the absolute encoder 7 and the relative encoder 6 actually sense and measure the cumulative rotation angle of the motor 91. For example, if 725 degrees is measured, it means it has rotated 2 revolutions plus 5 degrees in the forward direction. This invention, by setting up the relative encoder 6 and the absolute encoder 7 for coordinated use, can more accurately measure torque changes, and thus more accurately measure the puncture motion stroke.

[0031] In summary, this invention employs a delta parallel mechanism 4 to synchronize the puncture needle during puncture training, achieving highly flexible and precise synchronized puncture movements. Furthermore, it utilizes a line-driven method to provide feedback on the puncture movement, enhancing the feedback effect. By using a relative encoder 6 and an absolute encoder 7 in conjunction, it can more accurately measure torque changes, thereby precisely measuring the puncture stroke. This invention can accurately simulate force feedback during puncture training, providing a more realistic training effect, and maintains high application accuracy even after repeated use. It is suitable for medical student training and has excellent market potential. Therefore, this invention effectively overcomes the various shortcomings of existing technologies and possesses high industrial application value.

[0032] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A puncture training device based on a delta parallel mechanism, characterized in that, It includes a base (1) and a base (2) connected to the base (1), and a bracket (3) is provided on the front of the base (2); Includes a delta parallel mechanism (4), which has a driving end and a converging end. A puncture needle (5) is threaded through the converging end. The puncture end of the puncture needle (5) punctures into the machine base (2) along the center line of the delta parallel mechanism. It also includes a torque generating mechanism (9), which includes a motor (91), a semi-circular lever arm (92), and a line (93). The line (93) is connected between the output end of the motor (91) and the semi-circular lever arm (92), and the power is transmitted through the line (93). The motor (91) is mounted on the bracket (3), the semi-circular lever arm (92) is hinged on the bracket (3), and the driving end of the delta parallel mechanism (4) is hinged on the semi-circular lever arm (92).

2. The puncture training device based on a delta parallel mechanism according to claim 1, characterized in that: The delta parallel mechanism (4) is a triangular cone component, including three equally distributed rectangular arms (41) and a connector (42). One end of each of the three rectangular arms (41) is simultaneously hinged to the connector (42) to form a convergent end, and the puncture needle (5) is inserted into the connector (42). The other end of each of the three rectangular arms (41) is a drive end.

3. The puncture training device based on a delta parallel mechanism according to claim 1, characterized in that: The semicircular lever arm (92) has an inner cavity. Two openings (921) are provided on the semicircular lever arm (92) that are oppositely distributed and simultaneously penetrate the inner cavity. A spring (94) is connected in the inner cavity. A line (93) is wound along the arc surface of the semicircular lever arm (92) and its two ends enter the inner cavity from the two openings (921) on the semicircular lever arm (92). One end of the line (93) is fixed in the inner cavity of the semicircular lever arm (92) and the other end is connected to the spring (94). The tension of the line is compensated by the spring (94).

4. The puncture training device based on a delta parallel mechanism according to claim 3, characterized in that: A pulley (95) is provided on the output end of the motor (91), and the line (93) winding around the arc surface of the semi-circular lever arm (92) is simultaneously wound on the pulley (95).

5. The puncture training device based on a delta parallel mechanism according to claim 1, characterized in that: An absolute encoder (7) is provided on the bracket (3), and a radial magnetic ring (8) corresponding to the absolute encoder (7) is provided on the hinge end of the semi-circular lever arm (92). The absolute encoder (7) obtains the rotation angle of the radial magnetic ring (8) to determine the position change of the semi-circular lever arm (92), and then obtains the change in the active angle and spatial displacement distance of the puncture needle (5) passing through the convergence end of the delta parallel mechanism (4).

6. The puncture training device based on a delta parallel mechanism according to claim 1, characterized in that: The motor (91) is equipped with a relative encoder (6), and the absolute encoder (7) determines the number of rotations of the motor (91) by acquiring the data changes of the relative encoder (6).

7. The puncture training device based on a delta parallel mechanism according to claim 1, characterized in that: An outer cover (10) is fitted on the front of the base (2) to protect the torque generating mechanism (9).

8. The puncture training device based on a delta parallel mechanism according to claim 7, characterized in that: The outer casing (10) is provided with a puncture cover (11), and the puncture needle (5) is movably inserted into the puncture cover (11) through the bearing component (12).

9. The puncture training device based on a delta parallel mechanism according to claim 8, characterized in that: The puncture cover (11) has holes, and the bearing component (12) is installed in the holes of the puncture cover (11); the bearing component (12) is a fisheye bearing.

10. The puncture training device based on a delta parallel mechanism according to claim 1, characterized in that: A support foot (13) is provided on the back of the base (2).

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