CN101882394B - Force sense feedback simulator of virtual intervene operation - Google Patents
Force sense feedback simulator of virtual intervene operation Download PDFInfo
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- CN101882394B CN101882394B CN2010102230334A CN201010223033A CN101882394B CN 101882394 B CN101882394 B CN 101882394B CN 2010102230334 A CN2010102230334 A CN 2010102230334A CN 201010223033 A CN201010223033 A CN 201010223033A CN 101882394 B CN101882394 B CN 101882394B
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Abstract
The invention provides a force sense feedback simulator of virtual intervene operations, which comprises a support frame, wherein a linear transmission device and a rhombic transmission mechanism are arranged on the support frame, the rhombic transmission mechanism limits the movement of a movement base in an individual freedom degree, the linear transmission device consists of a driving wheel base, a driven wheel base, a driven wheel rotating shaft, a driving wheel, a driven wheel and a steel cable, the steel cable is wound on the driven wheel rotating shaft, the driving wheel and the driven wheel, the steel cable passes through the bottom of the movement base and is fixed through screw bolts, an output shaft of a first motor is fixed on a rotating shaft of the driving wheel and provides the force feedback parallel to the X axis, the located plane of the rhombic transmission mechanism is vertical to the located plane of the steel cable and is symmetrical to the located plane of the steel cable, one end of the rhombic transmission mechanism is rotatablely connected with a support frame, the other end of the rhombic transmission mechanism is rotatablely connected with the movement base, the two connecting parts respectively use a pair of gears for carrying out symmetrical engagement on transmission shafts of two adjacent connecting rods, a second motor is fixed to the movement base, and the motor is directly connected with an operation handle through a shaft coupler.
Description
One, technical field
The present invention relates to a kind of force feedback analogue means of 2DOF, especially relate to the 2DOF force feedback analogue means that is used for virtual intervene operation.
Two, background technology
Wicresoft's interventional technique provides a kind of wound less treatment means, makes the reluctant disease of some traditional operations be able to satisfactory solution, for extensive patients brings glad tidings." Wicresoft, painless, comfortable " become the medical theory that current people pursue.Yet when carrying out Minimally Invasive Surgery, the doctor should possess can skillfully use the ability of this new tool on miniature incision, and must be able to make the motion of oneself and in patient, capture to such an extent that image is coordinated each other by camera.Therefore, this Technology Need is trained the doctor for a long time.Compare with the conventional surgical training, the virtual operation that is based upon on the virtual reality conceptual foundation has advantages such as interactivity, non-invasi, repeatability and customizability.Through the force feedback interface in the virtual reality system; The doctor not only can send various command to computing machine with natural way; And can operate dummy object through actuation means, obtain the power feel perception identical, thereby produce more real feeling of immersion with the operation actual object.Therefore, the force feedback technology has irreplaceable superiority as needing most perfect mutual approach in the virtual reality technology in the man-machine interaction process, become the current research focus in the field of human-computer interaction.The analysis of cardiac intervene operation, the doctor roughly carries out following step: confirm to puncture after the angle; After puncturing successfully, conduit or seal wire move in blood vessel.Because receive the restriction of shape of blood vessel, conduit or seal wire have only two freedoms of motion in human body, that is: one-movement-freedom-degree of sending to or extracting out, a degree of freedom around self axis rotation.Because puncture angle can not changed in the surgical procedure after confirming again, this degree of freedom can be regarded a limited degree of freedom as.Therefore, the motion that need carry out simulated training in the complicated intervene operation training can be reduced to two degree of freedom: translation vertically and around the spinning motion of axis.The existing most complex structure of force feedback interface device; Have following shortcoming simultaneously: it is impossible that of short duration contact makes that the emulation whole surgery becomes; Bigger friction force and inertia make the force feedback precision not high, and is sluggish and the irregular excitation system that makes can not provide suitably force feedback timely.
Three, technology contents
Technical matters the invention provides and a kind ofly helps reducing system friction, improves the force feedback precision, enlarges the surgery haptic feedback simulator of the virtual intervention of 2DOF of stroke, compact conformation.
The force sense feedback simulator of a kind of virtual intervene operation of technical scheme comprises: support, support are " L " type; On mutually perpendicular two arm inboards, be respectively equipped with line gearing and rhombus gear train, said rhombus gear train is limited to the motion of moving base on the degree of freedom, said line gearing by be fixed on driving wheel pedestal, the engaged wheel pedestal on the support, engaged wheel turning axle, driving wheel, engaged wheel and the wire rope on two-wheeled that is fixed between the engaged wheel pedestal constitutes; Bolt is also passed through in steel wire penetrating moving base bottom; The output shaft of first motor is fixed on the turning axle of driving wheel and through the line gearing force feedback that is parallel to the X axle is provided, and plane, said rhombus gear train place is vertical with plane, wire rope place, and belongs to plane symmetry about wire rope; The rhombus gear train comprises connecting rod one, connecting rod two, connecting rod three and connecting rod four; Wherein an end of an end of connecting rod one and connecting rod two is rotationally connected, and an end of connecting rod three and an end of connecting rod four are rotationally connected, and the other end of said connecting rod one is rotationally connected through rotating shaft one and the fixedly right angle one that is fixed on the support; In rotating shaft one, establish gear one; The other end of said connecting rod three is rotationally connected through rotating shaft three and the fixedly right angle three that is fixed on the support, in rotating shaft three, establishes gear three, and gear one is meshed with gear three; The other end of said connecting rod two is rotationally connected through rotating shaft two and the fixedly right angle two that is fixed on the moving base; In rotating shaft two, establish gear two, the other end of said connecting rod four is rotationally connected through rotating shaft four and the fixedly right angle four that is fixed on the moving base, in rotating shaft four, establishes gear four; Gear two is meshed with gear four; Be fixed with second motor on the moving base, the output shaft of second motor directly links to each other with operating grip through shaft coupling, and the moment feedback perpendicular to the X axle is provided.
Beneficial effect (1) the present invention adopts the rhombus gear train; The force of sliding friction that general force feedback mechanism axis is made progress changes to rolling friction, simultaneously, because the resolution of force effect; Friction force is axially reduced greatly, has improved the authenticity of force feedback precision and intervene operation emulation; (2) the present invention has realized reaching the big stroke intervene operation simulation of 500mm through the cooperation of driving of line driving force feedback and rhombus gear train, and the design before comparing more can be satisfied doctor's operative training requirement; (3) the utilization of the present invention line transmission mechanism on the direction that parallels to the axis; Change the output torque of motor into axial force feedback to operating grip; The force feedback of feeling on the output torque of motor and the operating grip is linear, has simplified the control computing of system; (4) the present invention has adopted symmetrical gearing mesh structure in the junction, two ends of rhombus gear train; The motion of doing when rhombus-mechanism is about the X axle when asymmetric; Because the symmetry of gear engagement; Mechanism will be locked, and the motion of operating grip just is limited on two required degree of freedom like this, and structure is also compacter; (5) the present invention adopts the design proposal that rhombus gear train and line transmission combine, and has simplified the complexity of mechanism, has accurately realized the force feedback of two degree of freedom; (6) the present invention adopts motor-driven, according to the photoelectric code disk signal that collects, produces the power and the moment of two degree of freedom respectively, compares with other existing interfaces, has effectively reduced the retardance of control.
Four, description of drawings
Fig. 1 is the structural representation of the embodiment of the invention.
Fig. 2 is the structural representation of embodiment of the invention center line gearing.
Fig. 3 is the structural representation of rhombus gear train in the embodiment of the invention.
Five, specific embodiments
Embodiment 1 present embodiment relates to a kind of force sense feedback simulator of virtual intervene operation, comprising: support 1, support 1 are " L " type; On mutually perpendicular two arm inboards, be respectively equipped with line gearing and rhombus gear train 2, said rhombus gear train 2 is limited to the motion of moving base 3 on 1 degree of freedom, and said line gearing is by the driving wheel pedestal 71, the engaged wheel pedestal 81,82 that are fixed on the support 1; Be fixed on the engaged wheel turning axle 83 between the engaged wheel pedestal; Constitute with driving wheel 7, engaged wheel 8 and the wire rope on two-wheeled, steel wire penetrating moving base 3 bottoms and through bolt, the output shaft of first motor 5 is fixed on the force feedback that is parallel to the X axle is provided on the turning axle of driving wheel 7 and through the line gearing; Plane, said rhombus gear train 2 place is vertical with plane, wire rope place; And about wire rope place plane symmetry, rhombus gear train 2 comprises connecting rod 1, connecting rod 2 22, connecting rod 3 23 and connecting rod 4 24, and an end of connecting rod 1 and an end of connecting rod 2 22 are rotationally connected; One end of connecting rod 3 23 and an end of connecting rod 4 24 are rotationally connected; The other end of said connecting rod 1 is rotationally connected through rotating shaft 1 and the fixedly right angle 1 that is fixed on the support 1, in rotating shaft 1, establishes gear 1, and the other end of said connecting rod 3 23 is rotationally connected through rotating shaft 3 231 and the fixedly right angle 3 230 that is fixed on the support 1; In rotating shaft 3 231, establish gear 3 232; Gear 1 is meshed with gear 3 232, and the other end of said connecting rod 2 22 is rotationally connected through rotating shaft 2 221 and the fixedly right angle 2 220 that is fixed on the moving base 3, in rotating shaft 2 221, establishes gear 2 222; The other end of said connecting rod 4 24 is rotationally connected through rotating shaft 4 241 and the fixedly right angle 4 240 that is fixed on the moving base 3; In rotating shaft 4 241, establish gear 4 242, gear 2 222 is meshed with gear 4 242, is fixed with second motor 6 on the moving base 3; The output shaft of second motor 6 directly links to each other with operating grip 4 through shaft coupling; Provide perpendicular to the moment of X axle feedback, all establish photoelectric encoder on first motor 5 and second motor 6, be used for the location parameter of measuring operation handle 4.
Claims (1)
1. the force sense feedback simulator of a virtual intervene operation; It is characterized in that; Comprise: support (1); Support (1) is made up of orthogonal two arms; Support (1) is " L " type, and an arm of support (1) is provided with the line gearing, and another arm is provided with rhombus gear train (2); Said rhombus gear train (2) is limited to the motion of moving base (3) on 1 degree of freedom; Said line gearing is made up of the engaged wheel turning axle (83), driving wheel (7), engaged wheel (8) and the wire rope on two-wheeled that are fixed on driving wheel pedestal (71), the first engaged wheel pedestal (81), the second engaged wheel pedestal (82) on the support (1), be fixed between two engaged wheel pedestals, steel wire penetrating moving base (3) bottom and through bolt, and the output shaft of first motor (5) is fixed on the force feedback that the motion outbound course that is parallel to the line gearing is provided on the turning axle of driving wheel (7) and through the line gearing; Plane, said rhombus gear train (2) place is vertical with plane, wire rope place; And about wire rope place plane symmetry, rhombus gear train (2) comprises connecting rod one (21), connecting rod two (22), connecting rod three (23) and connecting rod four (24), and an end of an end of connecting rod one (21) and connecting rod two (22) is rotationally connected; One end of one end of connecting rod three (23) and connecting rod four (24) is rotationally connected; The other end of said connecting rod one (21) is rotationally connected through rotating shaft one (211) and the fixedly right angle one (210) that is fixed on the support (1), in rotating shaft one (211), establishes gear one (212), and the other end of said connecting rod three (23) is rotationally connected through rotating shaft three (231) and the fixedly right angle three (230) that is fixed on the support (1); In rotating shaft three (231), establish gear three (232); Gear one (212) is meshed with gear three (232), and the other end of said connecting rod two (22) is rotationally connected through rotating shaft two (221) and the fixedly right angle two (220) that is fixed on the moving base (3), in rotating shaft two (221), establishes gear two (222); The other end of said connecting rod four (24) is rotationally connected through rotating shaft four (241) and the fixedly right angle four (240) that is fixed on the moving base (3); In rotating shaft four (241), establish gear four (242), gear two (222) is meshed with gear four (242), on moving base (3), is fixed with second motor (6); The output shaft of second motor (6) directly links to each other with operating grip (4) through shaft coupling, is used to provide the moment feedback perpendicular to the motion outbound course of line gearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102230334A CN101882394B (en) | 2010-07-09 | 2010-07-09 | Force sense feedback simulator of virtual intervene operation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010102230334A CN101882394B (en) | 2010-07-09 | 2010-07-09 | Force sense feedback simulator of virtual intervene operation |
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| CN101882394A CN101882394A (en) | 2010-11-10 |
| CN101882394B true CN101882394B (en) | 2012-05-23 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102691767A (en) * | 2011-03-25 | 2012-09-26 | 上海理工大学 | Movement amplification device based on force feedback equipment |
| JP6259757B2 (en) * | 2011-06-27 | 2018-01-10 | ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ | On-board instrument tracking system for computer-assisted surgery |
| CN104157200A (en) * | 2014-08-06 | 2014-11-19 | 胡青 | Novel intelligent cardiovascular interventional virtual operation simulation system |
| CN105280080B (en) * | 2015-11-26 | 2018-05-04 | 中国科学院自动化研究所 | A kind of Three Degree Of Freedom touches haptic interaction system and tactile dynamic sensing interexchanging apparatus |
| CN111839740B (en) * | 2020-07-07 | 2022-06-03 | 天津大学 | Master-slave isomorphic teleoperation force feedback master hand of minimally invasive surgery robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100355539C (en) * | 2005-11-11 | 2007-12-19 | 北京航空航天大学 | Three-freedom dynamic sensing interexchanging apparatus |
| CN201224104Y (en) * | 2008-07-24 | 2009-04-22 | 东南大学 | Force feedback three-DOF hand controlled regulator mechanism |
| CN101444431B (en) * | 2008-12-23 | 2010-07-07 | 天津大学 | Three dimensional force feedback main operator assisting minimally invasive surgery robot |
| CN101480798B (en) * | 2009-01-20 | 2010-06-23 | 东南大学 | High-precision low-inertia straight-line displacement mechanism of force feedback hand controlled regulator |
| CN101702277B (en) * | 2009-09-14 | 2011-05-04 | 上海交通大学 | Virtual and artificial force feedback surgical instrument |
| CN201845490U (en) * | 2010-07-09 | 2011-05-25 | 东南大学 | Force sense redisplay interactive perception simulator of virtual intervention operations |
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Owner name: SOWTHEAST UNIV. Effective date: 20140813 Owner name: JIANGSU MING JIANG VALVE CO., LTD. Free format text: FORMER OWNER: SOWTHEAST UNIV. Effective date: 20140813 |
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Effective date of registration: 20140813 Address after: 226600 No. 288 the Yellow Sea Avenue (West), Haian Town, Haian County, Nantong, Jiangsu Patentee after: Jiangsu Ming Jiang Valve Co., Ltd. Patentee after: Southeast University Address before: 210096 Jiangsu city Nanjing Province four pailou No. 2 Patentee before: Southeast University |