A simulated bronchoscope force feedback mechanism

Abstract

The application relates to a simulated bronchoscope force feedback mechanism, which comprises a base, a through cavity in a first direction is arranged on the base, the through cavity is provided with a simulated bronchoscope, the simulated bronchoscope can move in an axial direction and can rotate in the through cavity, the moving distance and the rotating angle of the simulated bronchoscope are acquired through a laser sensor, the through cavity is divided into a simulated oral cavity channel and a simulated nasal cavity channel, and it can be distinguished through an optical-electricity sensor whether the simulated bronchoscope is inserted into the oral cavity channel or the nasal cavity channel. A force feedback mechanism is further arranged on the base, the force feedback mechanism is realized through a group of eccentric wheels and an eccentric wheel driving mechanism, different damping forces can be provided for an operator when the operator operates the simulated bronchoscope to train, the force feedback is closer to the feeling of a real operation, and better training effect is achieved.

Description

Technical Field

[0001] This application relates to the field of virtual surgery technology, and in particular to a force feedback mechanism for simulating bronchoscopy. Background Technology

[0002] A simulated bronchoscope is a highly realistic surgical simulation training tool, primarily used for skills training by doctors and medical students. By simulating a real surgical environment and procedure, it helps medical professionals improve their surgical skills and reduce errors and complications in actual operations. With the popularization of minimally invasive surgical techniques and advancements in medical education, the simulated bronchoscope market is experiencing rapid growth.

[0003] One of the important functions of bronchoscopic surgery simulation training tools is to enable operators to simulate force feedback during the surgical process as realistically as possible. In the existing technology, the design of force feedback mechanisms is complex and the feedback is not accurate enough, which cannot approach a more realistic feel. At the same time, the size of the equipment cannot be miniaturized, resulting in poor actual training effect for operators. Therefore, there is an urgent need to provide a new bronchoscopic surgery simulation device with a force feedback mechanism. Utility Model Content

[0004] The purpose of this application is to provide a force feedback mechanism for simulating bronchoscopy, which can solve the problem that the current bronchoscopic testing simulator does not provide a realistic feel during training.

[0005] The technical solution of the present invention is to provide a force feedback mechanism for simulating a bronchoscope, comprising: a base, a through cavity along a first direction provided on the base, a simulated bronchoscope provided in the through cavity, the simulated bronchoscope being axially movable in the through cavity, and a force feedback device provided on the base, the force feedback device being capable of applying forces of different magnitudes to the radial direction of the simulated bronchoscope.

[0006] Preferably, the force feedback device includes an elastic block that abuts against the simulated bronchoscope and an eccentric drive mechanism that drives the elastic block to apply forces of different magnitudes to the simulated bronchoscope.

[0007] Preferably, the eccentric drive mechanism includes an eccentric wheel mounted on the base, the eccentric wheel being fixed to the base by a shaft, and the rolling surface of the eccentric wheel driving the elastic pressure block to abut against the simulated bronchoscope.

[0008] Preferably, the eccentric drive mechanism further includes a drive servo motor mounted on the base, the output end of the drive servo motor is provided with a first gear, and a second gear is mounted on the shaft, the first gear meshing with the second gear.

[0009] Preferably, during the axial movement of the simulated bronchoscope within the through-cavity, the elastic pressure block remains in continuous contact with the surface of the simulated bronchoscope.

[0010] Preferably, the base is provided with a mounting hole communicating with the through cavity along the second direction, and the elastic pressure block is installed in the mounting hole.

[0011] Preferably, the elastic pressure block includes a movable block and a spring, the spring being installed inside the movable block, and one end of the movable block being configured as a contoured surface adapted to the simulated bronchoscope.

[0012] Preferably, a laser sensor is also installed on the base.

[0013] Preferably, the laser sensor is mounted on the opposite side of the elastic block, and the simulated bronchoscope is movable in the accommodating space between the force sensor and the elastic block.

[0014] Preferably, there are at least two through cavities, and a photoelectric sensor is provided at the outlet of each through cavity. Compared with the prior art, the advantages of this application are: (1) This application provides a force feedback mechanism on the simulated bronchoscope, so that the operator can feel a certain resistance when operating the simulated bronchoscope, and the force feedback is closer to the feel of real surgery.

[0015] (2) In this application, the spring and the movable block apply a force to the simulated bronchoscope radially, which realizes the function of increasing resistance in a small space. Furthermore, through the cooperation of the contoured surface and the spring and the movable block, the whole structure is stable and reliable, and the operation is smooth and not prone to jamming.

[0016] (3) By using the combination of eccentric wheel and eccentric wheel drive mechanism, this application makes the resistance of the entire force feedback mechanism smoother, and the eccentric wheel can provide a variety of different resistances within a certain range, making it easier for the operator to feel a more realistic training feel during the training process. Attached Figure Description

[0017] The present application will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the overall structure of a force feedback mechanism for simulating a bronchoscope according to this application; Figure 2 This is a cross-sectional structural schematic diagram of a force feedback mechanism for simulating a bronchoscope according to this application; Figure 3This is a cross-sectional structural schematic diagram of a force feedback mechanism for simulating a bronchoscope according to this application; Figure 4 This is a schematic diagram of the elastic pressure block structure of a force feedback mechanism for simulating a bronchoscope according to this application; Figure 5 This is a cross-sectional structural schematic diagram of a force feedback mechanism for simulating a bronchoscope according to this application; Figure 6 This is an exploded view of the overall structure of a force feedback mechanism for bronchoscope simulation according to this application.

[0018] in: 1. Base; 2. Simulated bronchoscope; 3. Force feedback device; 4. Oral endoscope simulation sensor; 5. Nasal endoscope simulation sensor; 11. Through cavity; 12. Mounting hole; 31. Elastic pressure block; 32. Eccentric drive mechanism; 33. Laser sensor; 311. Spring; 312. Movable block; 312A. Contouring surface; 321. Eccentric wheel; 322. Shaft; 323. Drive servo motor; 324. First gear; 325. Second gear. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely one embodiment of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0020] The term "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of this application. In the description of the embodiments of this application, it should be understood that the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," and "third," etc., may explicitly or implicitly include one or more of that feature. Furthermore, the terms "first," "second," and "third," etc., are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Moreover, the terms "comprising" and "being," and any variations thereof, are intended to cover non-exclusive inclusion.

[0021] like Figure 1As shown, this embodiment provides a simulated bronchoscope force feedback mechanism, including: a base 1, a simulated bronchoscope 2, and a force feedback device 3. The simulated bronchoscope 2 has the shape of a simulated bronchoscope, and is generally long and cylindrical. The simulated bronchoscope 2 extends out of the base 1 and moves to a designated position. Normally, the simulated bronchoscope 2 is held by the operator and then moved in a designated direction. During this process, with the help of virtual simulation image recognition technology, the operator can visually see the results of the virtual demonstration. The virtual simulation technology is well known in the art and will not be described in detail here. In order to simulate the force exerted by the operator during bronchial examination surgery, this application also provides a force feedback device 3. The force feedback device 3 applies a force to the simulated bronchoscope 2, allowing the operator to feel a certain resistance.

[0022] like Figure 2-3 As shown, a through cavity 11 along a first direction is provided on the base 1. The inner wall of the through cavity 11 is a smooth arc-shaped inner wall. The simulated bronchoscope 2 passes through the through cavity 11 and can reciprocate axially within the through cavity 11. In order to provide resistance to the simulated bronchoscope 2 during movement, the force feedback device 3 of this embodiment is provided with an elastic pressure block 31. The elastic pressure block 31 is installed in the mounting hole 12 opened in the base 1 along the second direction. In a preferred embodiment of this application, the elastic pressure block 31 is configured as a spring. One end of the spring abuts against the simulated bronchoscope 2. The spring continuously applies a radial force to the simulated bronchoscope 2, so that the operator can feel obvious resistance during the movement of the simulated bronchoscope 2.

[0023] In one embodiment of this application, in order to provide the operator with a more realistic operating feel, the elastic pressure block 31 has been further improved in this embodiment, such as... Figure 3-4 As shown, the elastic pressure block 31 includes a spring 311 and a movable block 312. A hollow structure is provided inside the movable block 312, and the spring 311 is installed inside the hollow movable block 312. The end face of the movable block 312 is configured as a contour surface 312A that matches the shape of the simulated bronchoscope 2, which makes the relative movement between the bronchoscope simulator 2 and the movable block 312 smoother. In order to provide a stable force to the movable block 312, in this embodiment, a baffle 313 is provided below the movable block 312. The baffle 313 is fixed in the mounting hole 12. Thus, the movable block 312 is restricted in the mounting hole 12, and one end of the spring 311 abuts against the movable block 312, while the other end abuts against the baffle 313. The spring continuously applies a force to the simulated bronchoscope 2.

[0024] To provide operators with a more realistic operating feel, the force feedback device 3 has been further optimized in this embodiment, such as... Figure 5-6As shown, the force feedback device 3 is also provided with an eccentric drive mechanism 32. The eccentric drive mechanism 32 includes an eccentric wheel 321. The rolling surface of the eccentric wheel 321 contacts the elastic pressure block 31. When the eccentric drive mechanism 32 rotates, the elastic pressure block 31 can apply different forces to the simulated bronchoscope 2. In this embodiment, the eccentric drive mechanism 32 also includes a shaft 322 mounted on the base 1. The shaft 322 passes through the eccentric wheel 321. A second gear 325 is mounted on the shaft 322. The second gear 325 meshes with a first gear 324. The first gear 324 is mounted on the output shaft of the drive servo motor 323. When the drive servo motor 323 drives the first gear 324 to rotate, the force is transmitted to the shaft 322 through the second gear 325, thereby driving the eccentric wheel 321 to rotate, thus applying different forces to the simulated bronchoscope 2. At this time, the operator can feel different resistances when moving the simulated bronchoscope 2 during training. In some other real-time modes of this application, the drive servo 323 provides signal commands through virtual simulation image recognition technology to simulate different resistances generated at different stages of bronchoscope operation, giving the operator a more realistic operating feel.

[0025] In order to record the distance and angle of the simulated bronchoscope 2 during movement, a laser sensor 33 is also provided in this embodiment. The laser sensor 33 is mounted on the base 1 and is configured on the opposite side of the elastic pressure block 31. An accommodating space is configured between the laser sensor 33 and the elastic pressure block 31, which allows the simulated bronchoscope 2 to pass through continuously. The laser sensor 33 records the distance and angle of the simulated bronchoscope 2 in real time and sends the distance and angle data to the controller. With the help of 3D simulation technology, the operator can feel a more realistic damping force at the specified stage.

[0026] Reference Figure 3 , 6 The through cavity 11 is typically configured as a simulated cavity. In this embodiment, the simulated cavity includes a simulated oral cavity and a simulated nasal cavity. An oral endoscope simulation sensor 4 is disposed near the area of ​​the simulated cavity, and a nasal endoscope simulation sensor 5 is disposed in the area of ​​the simulated nasal cavity. The oral endoscope simulation sensor 4 and the nasal endoscope simulation sensor 5 can be photoelectric switches. When the simulated bronchoscope 2 extends from the area of ​​the simulated oral cavity or the area of ​​the simulated nasal cavity, the photoelectric switch receives the extension signal.

[0027] The above embodiments are merely illustrative of the technical concept and features of this application, intended to enable those skilled in the art to understand the content of this application and implement it accordingly, and should not be construed as limiting the scope of protection of this application. It is obvious to those skilled in the art that this application is not limited to the details of the above exemplary embodiments, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this application is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of the equivalents of the claims are intended to be included within this application.

Claims

1. A force feedback mechanism for simulating a bronchoscope, comprising: A base (1) is provided on the base (1) with a through cavity (11) along a first direction. A simulated bronchoscope (2) is provided in the through cavity (11). The simulated bronchoscope (2) can move axially within the through cavity (11). The base is characterized by having a force feedback device (3) provided on the base. The force feedback device (3) can apply forces of different magnitudes to the radial direction of the simulated bronchoscope (2). The force feedback device (3) includes an elastic block (31) that abuts against the simulated bronchoscope (2) and an eccentric drive mechanism (32) that drives the elastic block (31) to apply different forces to the simulated bronchoscope (2).

2. The simulated bronchoscope force feedback mechanism according to claim 1, characterized in that, The eccentric drive mechanism (32) includes an eccentric wheel (321) mounted on the base (1). The eccentric wheel (321) is fixed on the base (1) by a shaft (322). The rolling surface of the eccentric wheel (321) drives the elastic pressure block (31) to abut against the simulated bronchoscope (2).

3. The simulated bronchoscope force feedback mechanism according to claim 2, characterized in that, The eccentric drive mechanism (32) further includes a drive servo motor (323) mounted on the base (1). The output end of the drive servo motor (323) is provided with a first gear (324), and a second gear (325) is mounted on the shaft (322). The first gear (324) meshes with the second gear (325).

4. The simulated bronchoscope force feedback mechanism according to claim 1, characterized in that, During the axial movement of the simulated bronchoscope (2) within the through cavity, the elastic pressure block (31) remains in continuous contact with the surface of the simulated bronchoscope (2).

5. The simulated bronchoscope force feedback mechanism according to claim 4, characterized in that, An installation hole communicating with the through cavity is provided on the base (1) along the second direction, and the elastic pressure block (31) is installed in the installation hole.

6. The simulated bronchoscope force feedback mechanism according to claim 5, characterized in that, The elastic pressure block (31) includes a movable block (312) and a spring (311). The spring (311) is installed inside the movable block (312). One end of the movable block (312) is configured as a contoured surface adapted to the simulated bronchoscope (2).

7. A force feedback mechanism for simulating a bronchoscope according to any one of claims 1-6, characterized in that, A laser sensor (33) is also installed on the base (1).

8. The force feedback mechanism for simulating a bronchoscope according to claim 7, characterized in that, The laser sensor (33) is mounted on the opposite side of the elastic block (31), and the simulated bronchoscope (2) is movable in the accommodating space between the laser sensor (33) and the elastic block (31).

9. A force feedback mechanism for simulating a bronchoscope according to any one of claims 1-6, characterized in that, At least two through cavities (11) are provided, and a photoelectric sensor is provided at the outlet of each through cavity (11).

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