VR projection equipment

Abstract

The utility model provides VR projection equipment, which comprises VR glasses and a VR operation instrument, the VR operation instrument comprises a multi-axis mechanical arm and a scalpel simulation prop, the scalpel simulation prop comprises a simulation scalpel with a scalpel handle and a scalpel edge, the scalpel handle of the simulation scalpel is rotatably arranged on the multi-axis mechanical arm, and the scalpel handle of the simulation scalpel is rotatably arranged on the multi-axis mechanical arm. The scalpel simulation prop further comprises a mounting plate, a force feedback mechanism and a connecting rod structure rotationally arranged between the mounting plate and the multi-axis mechanical arm, the force feedback mechanism comprises a first steering engine located in the mounting plate and a cam connected to the first steering engine, and a first open groove allowing the output end of the first steering engine to be inserted and a second open groove allowing the cam to be inserted are formed in the knife edge. A first rotary encoder electrically connected with the upper computer is arranged in the connecting rod structure, and the upper computer is electrically connected with the first steering engine. According to the utility model, the situation of last operation can be reviewed, the practice effect is enhanced, feedback force is applied to the knife edge, feedback force of different magnitudes is applied according to the position of the knife edge, and the use experience is improved.

Description

Technical Field

[0001] This utility model relates to the field of VR medical technology, and in particular to a VR projection device. Background Technology

[0002] In existing technologies, VR technology is often used to simulate various scenarios to allow people to experience the characteristics of the scenarios in an immersive way. This includes combining VR technology with surgical simulation so that interns can practice simulated surgery and improve their mindset when seeking medical treatment in clinical settings.

[0003] Currently, in simulated surgery, unconstrained surgical instruments are generally used as scalpels. Interns wear VR glasses and practice incisions with the instruments. This method has the following shortcomings: 1. Because the instruments are completely unconstrained, the same steps cannot be reproduced, resulting in a lack of review and practice; 2. The force feedback device on the scalpel usually acts on the handle, but in actual surgery, the force feedback actually acts on the blade. Therefore, existing scalpel simulation instruments cannot fully reflect the tactile sensation during actual surgery. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a VR projection device, which aims to solve the technical problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model is implemented through the following technical solution:

[0006] A VR projection device includes VR glasses and a VR operator electrically connected to the VR glasses. The VR operator includes a multi-axis robotic arm and a scalpel simulation prop connected to the multi-axis robotic arm. The scalpel simulation prop includes a simulated scalpel with a handle and a blade. The handle of the simulated scalpel is rotatably mounted on the multi-axis robotic arm. The scalpel simulation prop also includes a mounting plate fixed to the blade, a force feedback mechanism mounted on the mounting plate, and a linkage structure rotatably mounted between the mounting plate and the multi-axis robotic arm. The force feedback mechanism includes a first servo motor located in the mounting plate and a cam connected to the output end of the first servo motor. The blade has a first slot for the output end of the first servo motor to be inserted and a second slot for the cam to be inserted. The linkage structure has a first rotary encoder electrically connected to a host computer. The host computer is electrically connected to the first servo motor.

[0007] According to one aspect of the above technical solution, there are multiple first servo motors, and the multiple first servo motors are arranged at intervals on the blade edge.

[0008] According to one aspect of the above technical solution, the multi-axis robotic arm includes a fixed base, a first link rotatably connected to the fixed base, a second link rotatably connected to the first link, and a third link rotatably connected to the second link, wherein the handle of the simulated scalpel is rotatably connected to the third link.

[0009] According to one aspect of the above technical solution, the multi-axis robotic arm further includes a second servo motor and a first clutch mechanism located in the fixed base. The first clutch mechanism includes a first rotating shaft fixedly connected to the first connecting rod and a first connecting block fixedly connected to the first rotating shaft. The first connecting block includes a first leaf spring and a first magnet disposed near the second servo motor. The first clutch mechanism also includes a first output block disposed near the second servo motor on the first connecting block, a first flange fixedly connected to the fixed base, and a first electromagnet fixed to the first flange.

[0010] According to one aspect of the above technical solution, the multi-axis robotic arm further includes a third servo motor and a second clutch mechanism located in the first link. The second clutch mechanism includes a second rotating shaft fixedly connected to the second link and a second connecting block fixedly connected to the second rotating shaft. The second connecting block includes a second leaf spring and a second magnet disposed near the third servo motor. The second clutch mechanism also includes a second output block disposed near the third servo motor on the second connecting block, a second flange fixedly connected to the first link, and a second electromagnet fixedly connected to the second flange.

[0011] According to one aspect of the above technical solution, the multi-axis robotic arm further includes a fourth servo motor and a third clutch mechanism located in the second link. The third clutch mechanism includes a third rotating shaft fixedly connected to the third link and a third connecting block fixedly connected to the third rotating shaft. The third connecting block includes a third leaf spring and a third magnet disposed near the fourth servo motor. The third clutch mechanism also includes a third output block disposed near the fourth servo motor on the third connecting block, a third flange fixedly connected to the second link, and a third electromagnet fixedly connected to the third flange.

[0012] According to one aspect of the above technical solution, the multi-axis robotic arm further includes a fifth servo motor and a fourth clutch mechanism located in the third link. The fourth clutch mechanism includes a fourth rotating shaft fixedly connected to the simulated scalpel and a fourth connecting block fixedly connected to the fourth rotating shaft. The fourth connecting block includes a fourth leaf spring and a fourth magnet disposed near the fifth servo motor. The fourth clutch mechanism also includes a fourth output block disposed near the fifth servo motor on the fourth connecting block, a fourth flange fixedly connected to the third link, and a fourth electromagnet fixedly connected to the fourth flange.

[0013] According to one aspect of the above technical solution, the first rotating shaft, the second rotating shaft, the third rotating shaft, and the fourth rotating shaft are respectively provided with a second rotary encoder, a third rotary encoder, a fourth rotary encoder, and a fifth rotary encoder.

[0014] According to one aspect of the above technical solution, the linkage structure includes a first connecting rod rotatably connected to the third connecting rod and a second connecting rod rotatably connected to the mounting plate. The first connecting rod and the second connecting rod are connected by a fifth rotating shaft, and the first rotary encoder is disposed on the fifth rotating shaft.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0016] By setting up VR glasses and a VR operator electrically connected to them, interns can control the VR operator to perform simulated surgery in a virtual world after wearing the VR glasses. When the intern sees virtual skin in the virtual world, they can pick up a simulated scalpel to cut the virtual skin. When the simulated scalpel bends and cuts, the first linkage will capture and calculate the rotation angle through the first rotary encoder, and then transmit it to the host computer. When the scalpel in the virtual world touches the virtual skin, the host computer controls the first servo to apply a certain torque according to the rotation angle, so that the cam can apply a feedback force on the blade, which is closer to the feeling of actual surgery. At the same time, according to the cutting position in the virtual world, the torque of the first servo can be adjusted accordingly to simulate the feedback force of the scalpel at different depths of the skin, thus improving the experience. When it is necessary to review the operation, the host computer drives the first servo to repeat the action according to the situation at various times based on the data of the rotary encoder. The intern only needs to place his hand lightly on the simulated scalpel. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the VR projection device in the first embodiment of this utility model;

[0018] Figure 2 for Figure 1 Schematic diagram of the structure at the central fixed seat;

[0019] Figure 3 for Figure 2 A schematic diagram of the structure at the first clutch mechanism;

[0020] Figure 4 for Figure 2 Exploded view of the structure at the first clutch mechanism;

[0021] Figure 5 for Figure 1 Structural diagram of the first connecting rod;

[0022] Figure 6 for Figure 1 A structural diagram of the second connecting rod in the middle;

[0023] Figure 7 for Figure 1 Structural diagram of the third link in the middle;

[0024] Figure 8 for Figure 1 A schematic diagram of the structure at the simulated surgical scalpel.

[0025] Figure 9 for Figure 1 Exploded view of the structure at the simulated surgical scalpel location;

[0026] Explanation of key component symbols:

[0027] Fixed base 10 First link 20 Second link 30 Third link 40 simulated scalpel 50 Mounting plate 61 First pivot 11 First clutch mechanism 12 First connecting block 121 First magnet 122 First leaf spring 123 First output block 124 First flange 125 First electromagnet 126 Second servo 127 Second pivot 21 Second clutch mechanism 22 Third pivot 31 Third clutch mechanism 32 Fourth pivot 41 Fourth clutch mechanism 42 simulated scalpel 50 knife handle 51 blade 52 First connecting rod 62 Second connecting rod 63 First slotting 64 Second slot 65 First servo 66 Cam 67

[0028] The following detailed description, in conjunction with the accompanying drawings, will further illustrate this utility model. Detailed Implementation

[0029] To facilitate understanding of this utility model, a more complete description will be given below with reference to the accompanying drawings. Several embodiments of this utility model are shown in the drawings. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this utility model will be more thorough and complete.

[0030] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0032] Please see Figures 1 to 9The image shows a VR projection device according to a first embodiment of the present invention, including VR glasses and a VR operator electrically connected to the VR glasses. The VR operator includes a multi-axis robotic arm and a surgical scalpel simulation prop connected to the multi-axis robotic arm. The surgical scalpel simulation prop includes a simulated surgical scalpel 50 having a handle 51 and a blade 52. The handle 51 of the simulated surgical scalpel 50 is rotatably mounted on the multi-axis robotic arm. The surgical scalpel simulation prop also includes a mounting plate 61 fixed to the blade 52 and a mounting plate 62 disposed on the mounting plate. The mounting plate 61 has a force feedback mechanism and a linkage structure rotatably disposed between the mounting plate 61 and the multi-axis robotic arm. The force feedback mechanism includes a first servo motor 66 located in the mounting plate 61 and a cam 67 connected to the output end of the first servo motor 66. The blade edge 52 has a first slot 64 for the output end of the first servo motor 66 to be inserted and a second slot 65 for the cam 67 to be inserted. The linkage structure has a first rotary encoder electrically connected to the host computer. The host computer is electrically connected to the first servo motor 66.

[0033] Understandably, by setting up VR glasses and a VR operator electrically connected to them, interns can control the VR operator to perform simulated surgery in the virtual world after wearing the VR glasses. When the intern sees virtual skin in the virtual world, they can pick up the simulated scalpel 50 to cut the virtual skin. When the simulated scalpel 50 bends and cuts, the first linkage 20 will capture and calculate the rotation angle through the first rotary encoder and then transmit it to the host computer. When the scalpel in the virtual world touches the virtual skin, the host computer controls the first servo motor 66 to apply a certain torque according to the rotation angle, so that the cam 67 can apply a feedback force on the blade 52, which is closer to the feeling of actual surgery. At the same time, according to the cutting position in the virtual world, the torque of the first servo motor 66 can be adjusted accordingly to simulate the feedback force of the scalpel 50 at different depths of the skin, thus improving the experience. When a review operation is needed, the host computer drives the first servo motor 66 to repeat the action according to the situation at various times based on the data of the rotary encoder. The intern only needs to place their hand lightly on the simulated scalpel 50.

[0034] Specifically, in this embodiment, there are multiple first servo motors 66, and the multiple first servo motors 66 are arranged at intervals on the blade edge 52.

[0035] Understandably, based on the interns' operating habits, the blade 52 in the virtual world might make contact with the skin first at the front end, or the middle, or the rear end. Therefore, multiple servos are set up, and the first servo 66 at different positions is activated to provide force feedback according to the different contact positions of the blade 52, thus improving the user experience.

[0036] Furthermore, the multi-axis robotic arm includes a fixed base 10, a first connecting rod 20 rotatably connected to the fixed base 10, a second connecting rod 30 rotatably connected to the first connecting rod 20, and a third connecting rod 40 rotatably connected to the second connecting rod 30. The handle 51 of the simulated surgical knife 50 is rotatably connected to the third connecting rod 40. The multi-axis robotic arm also includes a second servo motor 127 and a first clutch mechanism 12 located in the fixed base 10. The first clutch mechanism 12 includes a first rotating shaft 11 fixedly connected to the first connecting rod 20 and a first connecting block 121 fixedly connected to the first rotating shaft 11. The first connecting block 121 includes a first leaf spring 123 and a first magnet 122 disposed near the second servo motor 127. The first clutch mechanism 12 also includes a first output block 124 disposed near the second servo motor 127, a first flange 125 fixedly connected to the fixed base 10, and a first electromagnet 126 fixedly connected to the first flange 125. A second rotary encoder is provided on the first rotating shaft.

[0037] Understandably, when the intern operates the system, there is no need to energize the first electromagnet 126. At this time, due to the elasticity of the first leaf spring 123, the first connecting block 121 and the first output block 124 are separated. The intern can then actively control the first connecting rod 20 to rotate relative to the fixed base 10. The second rotary encoder reads the rotation amount of the first rotating shaft 11 and uploads it to the host computer for recording. When it is necessary to review the previous operation, the first electromagnet 126 is energized, causing it to emit a magnetic field, which is then transmitted through the first connecting block 121 to the first output block 124. The output block 124 transmits magnetic force to the first magnet 122. When the magnetic force is greater than the elastic force of the first leaf spring 123, the first connecting block 121 will move towards the first output block 124 while closely adhering to the inner wall of the fixed base 10, until the first magnet 122 is close to the first output block 124. In this way, the first connecting block 121 and the first output block 124 are connected. The second servo motor 127 can then control the first connecting block 121 to drive the first rotating shaft 11 and the first connecting rod 20 to move, so as to execute the previous operation through the command of the host computer.

[0038] Furthermore, the multi-axis robotic arm also includes a third servo motor and a second clutch mechanism 22 located in the first link 20. The second clutch mechanism 22 includes a second rotating shaft 21 fixedly connected to the second link 30 and a second connecting block fixedly connected to the second rotating shaft 21. The second connecting block includes a second leaf spring and a second magnet disposed near the third servo motor. The second clutch mechanism 22 also includes a second output block disposed near the third servo motor on the second connecting block, a second flange fixedly connected to the first link 20, and a second electromagnet fixedly connected to the second flange.

[0039] The multi-axis robotic arm also includes a fourth servo motor and a third clutch mechanism 32 located in the second link 30. The third clutch mechanism 32 includes a third rotating shaft 31 fixedly connected to the third link 40 and a third connecting block fixedly connected to the third rotating shaft 31. The third connecting block includes a third leaf spring and a third magnet disposed near the fourth servo motor. The third clutch mechanism 32 also includes a third output block disposed near the fourth servo motor on the third connecting block, a third flange fixedly connected to the second link 30, and a third electromagnet fixedly connected to the third flange.

[0040] The multi-axis robotic arm also includes a fifth servo motor and a fourth clutch mechanism 42 located in the third link 40. The fourth clutch mechanism 42 includes a fourth rotating shaft 41 fixedly connected to the simulated surgical knife 50, and a fourth connecting block fixedly connected to the fourth rotating shaft 41. The fourth connecting block includes a fourth leaf spring and a fourth magnet disposed near the fifth servo motor. The fourth clutch mechanism 42 also includes a fourth output block disposed near the fifth servo motor on the fourth connecting block, a fourth flange fixedly connected to the third link 40, and a fourth electromagnet fixedly connected to the fourth flange. A third rotary encoder, a fourth rotary encoder, and a fifth rotary encoder are respectively provided on the second rotating shaft 21, the third rotating shaft 31, and the fourth rotating shaft 41.

[0041] Understandably, the motion principles of the second link 30, the third link 40, and the simulated scalpel 50 are the same as those of the first link 20, and will not be elaborated upon here, nor are they labeled. For the specific structure, please refer to the first clutch mechanism 12. When the intern needs to perform active operation, all electromagnets are de-energized; when review is required, all electromagnets are energized. The entire multi-axis robotic arm can then be controlled via commands from the host computer. The intern only needs to gently place their hand on the simulated scalpel 50. It should be noted that some commonly used parts in the clutch mechanism, such as bearings, sliders, and positioning blocks, are not shown in the figure, but setting these components according to actual conditions is not difficult for those skilled in the art.

[0042] Furthermore, the linkage structure includes a first connecting rod 62 rotatably connected to the third connecting rod 40 and a second connecting rod 63 rotatably connected to the mounting plate 61. The first connecting rod 62 and the second connecting rod 63 are connected by a fifth rotating shaft, and the first rotary encoder is mounted on the fifth rotating shaft.

[0043] Understandably, when the simulated scalpel 50 rotates around the fourth axis 41, the first connecting rod 62 and the second connecting rod 63 will also move relative to each other, causing the first rotary encoder to capture and convert this rotation angle, and finally transmit it to the host computer. The host computer can then know the rotation angle of the simulated scalpel 50 based on the angle, and then apply different feedback forces based on the rotation angle and the depth of the scalpel on the skin in the virtual world, thereby improving the user experience.

[0044] In summary, the VR projection device in the above embodiments of this utility model can review the previous operation, enhance the practice effect, and apply feedback force to the blade, and apply different amounts of feedback force according to the position of the blade, thereby improving the user experience.

[0045] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0046] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A VR projection device, characterized by, The application relates to a VR (Virtual Reality) system, which comprises a VR glasses and a VR operation instrument electrically connected with the VR glasses, wherein the VR operation instrument comprises a multi-axis mechanical arm and a scalpel simulation prop connected with the multi-axis mechanical arm; the scalpel simulation prop comprises a simulation scalpel with a handle and a blade; the handle of the simulation scalpel is rotatably arranged on the multi-axis mechanical arm; the scalpel simulation prop further comprises a mounting plate fixedly connected with the blade, a force feedback mechanism arranged on the mounting plate, and a connecting rod structure rotatably arranged between the mounting plate and the multi-axis mechanical arm; the force feedback mechanism comprises a first steering engine arranged in the mounting plate and a cam connected with an output end of the first steering engine; a first slot for inserting the output end of the first steering engine and a second slot for inserting the cam are arranged in the blade; and a first rotary encoder electrically connected with a host computer is arranged in the connecting rod structure; the host computer is electrically connected with the first steering engine.

2. The VR projection device of claim 1, wherein, The first steering engine is provided in plurality; and the plurality of first steering engines are arranged at intervals on the blade.

3. The VR projection device of claim 1, wherein, The multi-axis mechanical arm comprises a fixed seat, a first connecting rod rotatably connected with the fixed seat, a second connecting rod rotatably connected with the first connecting rod, and a third connecting rod rotatably connected with the second connecting rod; and the handle of the simulation scalpel is rotatably connected with the third connecting rod.

4. The VR projection device of claim 3, wherein, The multi-axis mechanical arm further comprises a second steering engine arranged in the fixed seat and a first clutch mechanism; the first clutch mechanism comprises a first rotating shaft fixedly connected with the first connecting rod and a first connecting block fixedly connected with the first rotating shaft; the first connecting block comprises a first flat spring and a first magnet arranged on a side close to the second steering engine; the first clutch mechanism further comprises a first output block arranged on a side close to the second steering engine of the first connecting block, a first flange plate fixedly connected with the fixed seat, and a first electromagnet fixedly connected with the first flange plate.

5. The VR projection device of claim 4, wherein, The multi-axis mechanical arm further comprises a third steering engine arranged in the first connecting rod and a second clutch mechanism; the second clutch mechanism comprises a second rotating shaft fixedly connected with the second connecting rod and a second connecting block fixedly connected with the second rotating shaft; the second connecting block comprises a second flat spring and a second magnet arranged on a side close to the third steering engine; the second clutch mechanism further comprises a second output block arranged on a side close to the third steering engine of the second connecting block, a second flange plate fixedly connected with the first connecting rod, and a second electromagnet fixedly connected with the second flange plate.

6. The VR projection device of claim 5, wherein, The multi-axis mechanical arm further comprises a fourth steering engine arranged in the second connecting rod and a third clutch mechanism; the third clutch mechanism comprises a third rotating shaft fixedly connected with the third connecting rod and a third connecting block fixedly connected with the third rotating shaft; the third connecting block comprises a third flat spring and a third magnet arranged on a side close to the fourth steering engine; the third clutch mechanism further comprises a third output block arranged on a side close to the fourth steering engine of the third connecting block, a third flange plate fixedly connected with the second connecting rod, and a third electromagnet fixedly connected with the third flange plate.

7. The VR projection device of claim 6, wherein, The multi-shaft mechanical arm further comprises a fifth steering engine and a fourth clutch mechanism in the third connecting rod, the fourth clutch mechanism comprises a fourth rotating shaft fixedly connected with the simulated scalpel, and a fourth connecting block fixedly connected with the fourth rotating shaft, the fourth connecting block comprises a fourth plate spring and a fourth magnet arranged on one side close to the fifth steering engine, and the fourth clutch mechanism further comprises a fourth output block arranged on the fourth connecting block on the side close to the fifth steering engine, a fourth flange plate fixedly connected with the third connecting rod, and a fourth electromagnet fixedly connected with the fourth flange plate.

8. The VR projection device of claim 7, wherein, Second, third, fourth and fifth rotary encoders are arranged on the first, second, third and fourth rotating shafts, respectively.

9. The VR projection device of claim 3, wherein, The connecting rod structure comprises a first connecting rod rotationally connected with the third connecting rod, and a second connecting rod rotationally connected with the mounting plate, the first connecting rod and the second connecting rod are connected through a fifth rotating shaft, and the first rotary encoder is arranged on the fifth rotating shaft.

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