CN107038944A - A kind of device of six degree of freedom force feedback operative training - Google Patents
A kind of device of six degree of freedom force feedback operative training Download PDFInfo
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- CN107038944A CN107038944A CN201710328491.6A CN201710328491A CN107038944A CN 107038944 A CN107038944 A CN 107038944A CN 201710328491 A CN201710328491 A CN 201710328491A CN 107038944 A CN107038944 A CN 107038944A
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- 238000012549 training Methods 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 210000002445 nipple Anatomy 0.000 claims abstract description 6
- 230000008878 coupling Effects 0.000 claims description 55
- 238000010168 coupling process Methods 0.000 claims description 55
- 238000005859 coupling reaction Methods 0.000 claims description 55
- 238000006073 displacement reaction Methods 0.000 claims description 44
- 230000009471 action Effects 0.000 claims description 10
- 238000013519 translation Methods 0.000 claims description 10
- 238000012546 transfer Methods 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000004088 simulation Methods 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 239000002360 explosive Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 210000001367 artery Anatomy 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 244000144985 peep Species 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
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Abstract
The invention discloses a kind of device of six degree of freedom force feedback operative training, including base mechanism, linkage, cating nipple, operation linkage and handle mechanism, clip mechanism includes motor, clip bottom, clamp block, clip contiguous block, clip intermediate mass and clip top, the base mechanism and linkage constitute a class Delta parallel mechanism, and whole mechanism is a hybrid mechanism.The present invention can be different and its different according to user operating habit, position and the angle of scalpel and endoscope is adjusted flexibly, a kind of feedback force can also be experienced by motor simultaneously, give people a kind of more life-like effect, the effect of realistic simulation endoscope micro-wound can be reached, in addition, this apparatus structure is simple, it is easy to Operation and maintenance.
Description
Technical field
The invention belongs to waste processing arts, and in particular to a kind of device of six degree of freedom force feedback operative training.
Background technology
The release also without ripe force feedback operative training device product domestic at present, and mainly some have hero
The colleges and universities of thick robot Knowledge Base put into energy research and development at first.
Such as series connection haptic feedback devices of Harbin Institute of Technology's design in 2014, this is a available for Minimally Invasive Surgery
8 freedom degree forces feedback main manipulator.The main hand includes arm mechanism, Wrist mechanism and clamping device.Arm mechanism can be carried
Position output and force feedback function for 3DOF, Wrist mechanism have a redundant degree of freedom, using the teaching of the invention it is possible to provide 3DOF
Posture output.
In above-mentioned, series connection haptic feedback devices be generally serial mechanism, and constituted without band force snesor and computer
Closed-loop system, operation inertia is big, and space-consuming is excessive, and force feedback is untrue, it is difficult to simulate real surgery situation.
The content of the invention
The invention aims to solve shortcoming present in prior art, and a kind of six degree of freedom force feedback proposed
The device of operative training, can receive the rotation information translated with three directions in three directions, and data transfer to computer
Software systems, and the feedback force information that computer is transmitted back to can be received, produce the feedback force of three translation directions.
To achieve the above object, present invention employs following technical scheme：
A kind of device of six degree of freedom force feedback operative training, including left-hand drive and right-hand drive and guide rail, left hand
Device and right-hand drive are the identical structure that opposes, and the left-hand drive and right-hand drive include base mechanism, linkage, ten thousand
To section mechanism, operation linkage, the left-hand drive also includes handle, and the right-hand drive also includes clip mechanism, base machine
Structure include bottom plate, the first side plate, the second side plate, the first bottom plate fixed block, the second bottom plate fixed block, the first motor, the second motor,
3rd motor, terminal pad, first shaft coupling, second shaft coupling, the 3rd shaft coupling；The linkage includes three one-level A and connected
Bar, one-level B connecting rods, one-level C connecting rods, A contiguous blocks, B contiguous blocks, C contiguous blocks, D contiguous blocks, E contiguous blocks, F contiguous blocks, two grades of A
Connecting rod, two grades of B connecting rods, two grades of C connecting rods, three-dimensional force sensors；Cating nipple includes housing main body, outer frame connector, inside casing
Main body, inside casing connector, interior housing connecting shaft, the first potentiometer, the second potentiometer, inside casing closure member；Operation linkage includes
Head, bar intermediate mass, bar adapter sleeve, potentiometer, bar fixed block, bar contiguous block, rod handle, bar connecting shaft；Clip mechanism includes electricity
Machine, clip bottom, clamp block, clip contiguous block, clip intermediate mass and clip top, the base mechanism and linkage
A class Delta parallel mechanism is constituted, whole mechanism is a hybrid mechanism.
It is preferred that, the side of the left and right sides of the bottom plate respectively with the first side plate and the second side plate is carried out by screw
It is fixedly connected；The top surface of first bottom plate fixed block, the underrun screw of the second bottom plate fixed block and bottom plate is fixedly connected；
The bottom surface of bottom plate is fixedly connected with the first motor and the second motor placed vertically by screw, so allows for putting vertically
The first motor and the second motor put are fixed at bottom plate bottom surface；The 3rd laterally disposed motor through the second side plate circular hole with
Terminal pad is fixedly connected by screw, while terminal pad and the left surface of the second side plate are fixedly connected by screw,
So allowing for the 3rd laterally disposed motor can be fixed on the second side plate；First side plate, the second side plate side bottom have
One screwed hole, for being connected by screw fixation with slide rail.
It is preferred that, the first shaft coupling, second shaft coupling, the centre bore of one end of the 3rd shaft coupling and the first motor,
The axle of second motor and the 3rd motor is circumferentially fixed together by holding screw or keyway, and prevents first by holding screw
Shaft coupling, second shaft coupling and the 3rd shaft coupling axial float；Three one-level A connecting rods, one-level B connecting rods and one-level C connecting rods one end
The side opening of screwed hole and first shaft coupling, second shaft coupling, the 3rd shaft coupling other end be fixedly connected by screw, this
The rotational angle displacement of sample one-level A connecting rods, one-level B connecting rods and one-level C connecting rods with regard to can pass to first shaft coupling, second shaft coupling and
3rd shaft coupling, its first shaft coupling, second shaft coupling and the 3rd shaft coupling and then passes to the first motor, second by angular displacement
Angular displacement is converted into arteries and veins by the incremental encoder on motor and the 3rd motor, its first motor, the second motor and the 3rd motor
Rush signal and pass to system of virtual operation and calculated, its system of virtual operation obtains corresponding feedback force number after calculating
According to the then driver by feedback force data transfer to motor, driver motor produces corresponding feedback moment, operator
Therefore feedback force can be experienced and obtains more real operating experience.
It is preferred that, one end of the one-level A connecting rods, one-level B connecting rods and one-level C connecting rods is equipped with side opening, the A connections
Be equipped with block, B contiguous blocks, C contiguous blocks, D contiguous blocks, E contiguous blocks and F contiguous blocks described in two through holes two grades of A connecting rods, two grades
The two ends of B connecting rods and two grades of C connecting rods are also equipped with side opening, and three bottom external parts of three-dimensional force sensor are provided with hole, side opening, two
Through hole and hole are respectively arranged with bearing, and the outer ring interference fit of side opening, two through holes and circular hole and bearing；Connection between bearing makes
It is interference fitted with the inner ring of tiny axle and bearing；One-level A connecting rods, the bearing of one-level B connecting rods and one-level C connecting rods one end and A connect
Block, B contiguous blocks, the bearing in the one of hole of C contiguous blocks is connect to be attached；A contiguous blocks, B contiguous blocks, C contiguous blocks it is another
The bearing of bearing and two grades of A connecting rods, two grades of B connecting rods and two grades of C connecting rods one end in individual hole is attached；Two grades of A connecting rods,
The bearing and the bearing of one end of D contiguous blocks, E contiguous blocks and F contiguous blocks of two grades of B connecting rods and two grades of C connecting rod other ends are connected
Connect；Bearing connection in the external part of D contiguous blocks, the bearing of E contiguous blocks and the F contiguous block other ends and three-dimensional force sensor.
It is preferred that, translational degree of freedom of the three-dimensional force sensor provided with three directions, the translation of its three-dimensional force sensor
Displacement can be converted by two grades of A connecting rods, two grades of B connecting rods, two grades of C connecting rods, one-level A connecting rods, one-level B connecting rods and one-level C connecting rods
Motor is passed into angular displacement；Three-dimensional force sensor can obtain actual loading data, then be passed to by data acquisition card
System of virtual operation, system of virtual operation is calculated additional automatically by theoretical presetting computing power and the error of real power
Balancing force, be then passed to the first motor, the second motor, the driver of the 3rd motor, driver drives the first motor, second
Motor, the 3rd motor produce the gravity and inertia force that additional compensation force compensating falls device.
It is preferred that, the housing main body is fixed by screw with outer frame connector and constitutes housing, and inside casing main body connects with inside casing
Fitting is fixed by screw and constitutes inside casing；The interstitial hole of outer frame connector is respectively arranged with bearing with side opening below inside casing main part,
And the outer ring of bearing is interference fitted with hole, the inner ring of interior housing connecting shaft and bearing is interference fitted so that interior housing is in lower section
It is hinged；The axle for the first potentiometer placed vertically passes through the through hole of housing main body, and the first potentiometer shell passes through hexagonal spiral shell
Cap is fixed with housing main body；The axle for the potentiometer placed vertically also extends through the upper-side hole of inside casing main body, and with inside casing closure member
Yi word pattern protrusion mutually agree with, and inside casing closure member is fixed by screw with inside casing main body, so that interior housing is up obtained
It is hinged；Therefore, the horizontal plane rotational angle displacement of inside casing is with regard to that can be delivered in potentiometer, and angular displacement is converted to electric signal by potentiometer
Pass in system of virtual operation.
It is preferred that, the head and the bottom of bar intermediate mass are threadably secured, and top and the bar of the bar intermediate mass connect
The bottom of female connector is fixed by screw；The axle of potentiometer passes through the through hole of bar fixed block, and causes current potential by hexagonal (hexagon)nut
The shell of device is fixed with bar fixed block；The middle side opening of bar fixed block and bar adapter sleeve is fixed by screw；In bar contiguous block
Between through hole built with bearing, and the outer ring of bearing is interference fitted with hole, and the upper end of rod handle passes through the inner ring of bearing, in bearing
Ring gap coordinates, and the upper end side opening of bar contiguous block and bar adapter sleeve is fixed by screw；The lower end of rod handle yi word pattern protrusion with
Potentiometer mutually agrees with, so that the rotation angular displacement of rod handle is with regard to that can be delivered in potentiometer, angular displacement is converted to telecommunications by potentiometer
Number pass in system of virtual operation.
It is preferred that, the left surface and the right flank of bar connecting shaft of the bar intermediate mass are fixed by screw, inside casing connector
Interstitial hole built with bearing, and the outer ring of bearing is interference fitted with hole；The inner ring interference of the left end and bearing of bar connecting shaft
Coordinate, such universal joint inside casing is hinged with bar in left；The axle of the second laterally disposed potentiometer sequentially passes through inside casing master
The right side through hole of body and the intermediate throughholes of bar intermediate mass, shell and the inside casing main body of the second potentiometer are fixed by hexagonal (hexagon)nut,
The yi word pattern protrusion of the axle of second potentiometer and bar connecting shaft right-hand member mutually agrees with, so that the angular displacement of the perpendicular of action bars is just
It can be delivered in the second potentiometer；Angular displacement is converted to electric signal and passed in system of virtual operation by the second potentiometer；The electricity
Machine is sandwiched between the arc depression of clip bottom and clamp block, and clip bottom passes through bolt hexagonal spiral shell with clamp block
Cap clamping motor shell；The small through hole of one end of clip contiguous block is connected circumferential solid with motor shaft by holding screw or keyway
Calmly, and by holding screw the axial float of clip contiguous block is prevented；One end of clip intermediate mass is another with clip contiguous block
End is fixed by screw, and part is fixed by screw on the other end and clip of clip intermediate mass；The angular displacement on clip top is just
Incremental encoder on motor, motor can be passed to angular displacement is converted into pulse signal passes to system of virtual operation and carry out
Calculate, system of virtual operation obtains feeding back force data accordingly after calculating, then by feedback force data transfer to motor
Driver, driver motor produces corresponding feedback moment, and therefore operator can experience feedback force and obtain truer
Operating experience.
It is preferred that, the bottom of the clip bottom can agree with the groove of rod handle upper end, and be fixed by screw；And device
Left-hand component handle can be fixed with the upper end of rod handle by screw；The lower section side of the housing main body can be with three-dimensional force sensor
Top surface fixed by screw；The displacement of translation can be just transmitted to three-dimensional force sensor by action bars, and then pass to motor.It is described
Right-hand drive can change cutter, when this device right-hand drive needs to use cutter, clip bottom, clip top, gripping block, folder
Sub- contiguous block, intermediate mass and motor part can be pulled down, and the cutter that need to be changed is put into the groove of rod handle, be twisted by screw
Fasten, what the right-hand drive was simulated is the operation of scalpel.
It is preferred that, the guide rail plays overall fixation, and left-hand drive and right-hand drive Liang Ge mechanisms can be by leading
Groove in rail or so adjustment position, and hole that can be by screw through guide rail side and left-hand drive and the side plate of right-hand drive
Bottom thread hole carries out threaded connection fixation.
The technique effect and advantage of the present invention：A kind of device of six degree of freedom force feedback operative training proposed by the present invention,
Compared with prior art, the operating habit that the present invention can be different and its different according to user, is adjusted flexibly scalpel and interior peeps
The position of mirror and angle, while a kind of feedback force can also be experienced by motor, give people a kind of more life-like effect, can be with
The effect of realistic simulation endoscope micro-wound is reached, in addition, this apparatus structure is simple, it is easy to Operation and maintenance.
Brief description of the drawings
Fig. 1 is patent right hand portion base of the present invention and shaft portion explosive view；
Fig. 2 is patent right hand portion base of the present invention and shaft portion installation diagram；
Fig. 3 is patent universal joint of the present invention and operation bar part explosive view；
Fig. 4 is patent universal joint of the present invention and action bars part assembly drawing；
Fig. 5 is patent clip explosive view of the present invention；
Fig. 6 is patent clip installation diagram of the present invention；
The dress that Fig. 7 is constituted with handle and clip respectively for the three-dimensional force sensor, universal joint, action bars of right-hand man of the present invention
Part figure；
Fig. 8 is overall construction drawing of the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Herein
Described specific embodiment only to explain the present invention, is not intended to limit the present invention.Based on the embodiment in the present invention,
The every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, belongs to this hair
The scope of bright protection.
Filled the invention provides a kind of device of six degree of freedom force feedback operative training as shown in figures 1-8, including left hand
Put with right-hand drive and guide rail 49, left-hand drive and right-hand drive are opposition identical structure, the left-hand drive and the right hand
Device includes base mechanism, linkage, cating nipple, operation linkage, and the left-hand drive also includes handle 48, described
Right-hand drive also include clip mechanism, base mechanism include bottom plate 1, the first side plate 2, the second side plate 3, the first bottom plate fixed block 4,
Second bottom plate fixed block 5, the first motor 6, the second motor 7, the 3rd motor 8, terminal pad 9, first shaft coupling 10, second shaft coupling
11st, the 3rd shaft coupling 12；The linkage includes three one-level A connecting rods 13, one-level B connecting rods 14, one-level C connecting rods 15, A connections
Block 16, B contiguous blocks 17, C contiguous blocks 18, D contiguous blocks 19, E contiguous blocks 20, F contiguous blocks 21, two grades of A connecting rods 22, two grades of B connecting rods
23rd, two grades of C connecting rods 24, three-dimensional force sensors 25；Cating nipple includes housing main body 26, outer frame connector 27, inside casing main body
28th, inside casing connector 29, interior housing connecting shaft 30, the first potentiometer 31, the second potentiometer 41, inside casing closure member 32；Action bars
Mechanism includes head 33, bar intermediate mass 34, bar adapter sleeve 35, potentiometer 36, bar fixed block 37, bar contiguous block 38, rod handle 39, bar
Connecting shaft 40；Clip mechanism includes motor 42, clip bottom 43, clamp block 44, clip contiguous block 45, clip intermediate mass 46
With clip top 47, the base mechanism and linkage constitute a class Delta parallel mechanism, and whole mechanism is a series-parallel connection
Mechanism.
Side of the left and right sides of the bottom plate 1 respectively with the first side plate 2 and the second side plate 3 is fixed by screw
Connection；The top surface of first bottom plate fixed block 4, the underrun screw of the second bottom plate fixed block 5 and bottom plate 1 is fixedly connected；
The bottom surface of bottom plate 1 is fixedly connected with the first motor 6 and the second motor 7 placed vertically by screw, so allows for erecting
The first motor 6 and the second motor 7 directly placed are fixed at the bottom surface of bottom plate 1；The 3rd laterally disposed motor 8 passes through the second side plate
3 circular hole is fixedly connected with terminal pad 9 by screw, while terminal pad 9 and the left surface of the second side plate 3 are entered by screw
Row is fixedly connected, and so allowing for the 3rd laterally disposed motor 8 can be fixed on the second side plate 3；First side plate 2, second
The side bottom of side plate 3 has a screwed hole, for being connected by screw fixation with slide rail 49.
The first shaft coupling 10, second shaft coupling 11, the centre bore of one end of the 3rd shaft coupling 12 and the first motor 6,
The axle of second motor 7 and the 3rd motor 8 by holding screw or keyway it is circumferentially fixed together with, and prevent by holding screw
One shaft coupling 10, second shaft coupling 11 and the axial float of the 3rd shaft coupling 12；Three one-level A connecting rods 13, one-level B connecting rods 14 and one
The side opening of the screwed hole and first shaft coupling 10, second shaft coupling 11, the other end of the 3rd shaft coupling 12 of the one end of level C connecting rods 15 passes through
Screw is fixedly connected, and the rotational angle displacement of such one-level A connecting rods 13, one-level B connecting rods 14 and one-level C connecting rods 15 can just be transmitted
To first shaft coupling 10, the shaft coupling 12 of second shaft coupling 11 and the 3rd, its first shaft coupling 10, second shaft coupling 11 and the 3rd
Axle device 12 and then angular displacement is passed into the first motor 6, the second motor 7 and the 3rd motor 8, its first motor 6, the second motor 7
Angular displacement be converted into pulse signal with the incremental encoder on the 3rd motor 8 pass to system of virtual operation and calculated,
Its system of virtual operation obtains feeding back force data accordingly after calculating, the then driving by feedback force data transfer to motor
Device, driver motor produces corresponding feedback moment, and therefore operator can experience feedback force and obtain more real behaviour
Experience.
One end of the one-level A connecting rods 13, one-level B connecting rods 14 and one-level C connecting rods 15 is equipped with side opening, the A contiguous blocks
16th, two grades are equipped with described in two through holes on B contiguous blocks 17, C contiguous blocks 18, D contiguous blocks 19, E contiguous blocks 20 and F contiguous blocks 21
The two ends of A connecting rods 22, two grades of B connecting rods 23 and two grades of C connecting rods 24 are also equipped with side opening, and 25 3 bottoms of three-dimensional force sensor are stretched out
End is provided with hole, and side opening, two through holes and hole are respectively arranged with bearing, and side opening, the outer ring interference of two through holes and circular hole and bearing are matched somebody with somebody
Close；Connection between bearing is interference fitted using the inner ring of tiny axle and bearing；One-level A connecting rods 13, one-level B connecting rods 14 and one
The bearing of the one end of level C connecting rods 15 is attached with the bearing in A contiguous blocks 16, B contiguous blocks 17, the one of hole of C contiguous blocks 18；
A contiguous blocks 16, B contiguous blocks 17, the bearing in another hole of C contiguous blocks 18 and two grades of A connecting rods 22, two grades of B connecting rods 23 and two
The bearing of the one end of level C connecting rods 24 is attached；Two grades of A connecting rods 22, two grades of B connecting rods 23 and two grades of other ends of C connecting rods 24
Bearing and the bearing of one end of D contiguous blocks 19, E contiguous blocks 20 and F contiguous blocks 21 are attached；D contiguous blocks 19, E contiguous blocks 20
It is connected with the bearing of the other end of F contiguous blocks 21 with the bearing in the external part of three-dimensional force sensor 25.
The three-dimensional force sensor 25 just has the translational degree of freedom in three directions, the translation displacements of its three-dimensional force sensor 25
It can be connected by two grades of A connecting rods 22, two grades of B connecting rods 23, two grades of C connecting rods 24, one-level A connecting rods 13, one-level B connecting rods 14 and one-level C
Bar 15 changes into angular displacement and passes to motor；Three-dimensional force sensor 25 can obtain actual loading data, then be adopted by signal
Truck passes to system of virtual operation, and system of virtual operation is calculated attached automatically by the error of theoretical calculation power and real power
Plus balancing force, be then passed to the first motor 6, the second motor 7, the driver of the 3rd motor 8, driver drives the first motor
6th, the second motor 7, the 3rd motor 8 produce the gravity and inertia force that additional compensation force compensating falls device.
The housing main body 26 is fixed by screw with outer frame connector 27 and constitutes housing, and inside casing main body 28 is connected with inside casing
Part 29 is fixed by screw and constitutes inside casing；The interstitial hole of outer frame connector 26 is respectively arranged with axle with the lower section side opening of inside casing main part 28
Hold, and the outer ring of bearing is interference fitted with hole, and interior housing connecting shaft 30 and the inner ring of bearing are interference fitted so that interior housing exists
Lower section is hinged；The axle for the first potentiometer 31 placed vertically passes through the through hole of housing main body 26, the shell of the first potentiometer 31
Fixed by hexagonal (hexagon)nut with housing main body 26；The axle for the potentiometer 31 placed vertically also extends through the upper-side hole of inside casing main body 28,
And mutually agree with the yi word pattern protrusion of inside casing closure member 32, and inside casing closure member 32 is consolidated by screw and inside casing main body 28
It is fixed, so that interior housing is up hinged；Therefore, the horizontal plane rotational angle displacement of inside casing be with regard to that can be delivered in potentiometer 31,
Angular displacement is converted to electric signal and passed in system of virtual operation by potentiometer 31.
The head 33 and the bottom of bar intermediate mass 34 are threadably secured, and the top of the bar intermediate mass 34 is connected with bar
The bottom of set 35 is fixed by screw；The axle of potentiometer 36 passes through the through hole of bar fixed block 37, and is caused by hexagonal (hexagon)nut
The shell of potentiometer 36 is fixed with bar fixed block 37；The middle side opening of bar fixed block 37 and bar adapter sleeve 35 is fixed by screw；
The intermediate throughholes of bar contiguous block 38 are interference fitted built with bearing, and the outer ring of bearing with hole, and the upper end of rod handle 39 passes through axle
The inner ring held, coordinates with bearing inner race gap, and the upper end side opening of bar contiguous block 38 and bar adapter sleeve 35 is fixed by screw；Rod handle
The yi word pattern protrusion of 39 lower end mutually agrees with potentiometer 36, so that the rotation angular displacement of rod handle 39 is with regard to that can be delivered to potentiometer 36
In, angular displacement is converted to electric signal and passed in system of virtual operation by potentiometer 36.
The left surface and the right flank of bar connecting shaft 40 of the bar intermediate mass 34 are fixed by screw, inside casing connector 29
Interstitial hole is interference fitted built with bearing, and the outer ring of bearing with hole；The inner ring interference of the left end and bearing of bar connecting shaft 40
Coordinate, such universal joint inside casing is hinged with bar in left；The axle of the second laterally disposed potentiometer 41 sequentially passes through inside casing
The right side through hole of main body 28 and the intermediate throughholes of bar intermediate mass 34, shell and the inside casing main body 28 of the second potentiometer 41 pass through hexagonal
Nut is fixed, and the axle of the second potentiometer 41 mutually agrees with the yi word pattern protrusion of the right-hand member of bar connecting shaft 40, so that action bars is vertical
The angular displacement of plane is with regard to that can be delivered in the second potentiometer 41；Angular displacement is converted to electric signal and passed to virtually by the second potentiometer 41
In surgery systems；The motor 42 is sandwiched between the arc depression of clip bottom 43 and clamp block 44, clip bottom 43
Pass through the shell of bolt hexagonal (hexagon)nut clamping motor 42 with clamp block 44；The small through hole and motor of one end of clip contiguous block 45
42 axles connect circumferentially fixed by holding screw or keyway, and prevent the axial direction of clip contiguous block 45 from altering by holding screw
It is dynamic；One end of clip intermediate mass 46 and the other end of clip contiguous block 45 are fixed by screw, the other end of clip intermediate mass 46
Fixed with part on clip 47 by screw；The angular displacement on clip top 47 is with regard to that can pass to the increment on motor 42, motor 42
Angular displacement is converted into pulse signal and passes to system of virtual operation by formula encoder to be calculated, and system of virtual operation is by calculating
After obtain feeding back force data accordingly, the then driver by feedback force data transfer to motor 42, driver motor 42
Corresponding feedback moment is produced, therefore operator can experience feedback force and obtain more real operating experience.
The bottom of the clip bottom 43 can agree with the groove of the upper end of rod handle 39, and be fixed by screw；And device is left
Rim portion handle 48 can be fixed with the upper end of rod handle 39 by screw；The lower section side of the housing main body 26 can be passed with three-dimensional force
The top surface of sensor 25 is fixed by screw；The displacement of translation can be just transmitted to three-dimensional force sensor 25 by action bars, and then be passed to
Motor.The right-hand drive can change cutter, when this device right-hand drive needs to use cutter, on clip bottom 43, clip
Portion 47, gripping block 44, clip contiguous block 45, intermediate mass 46 and the part of motor 42 can be pulled down, and the cutter that need to be changed is put into
The groove of rod handle 39, is fixed by screw-driving, and what the right-hand drive was simulated is the operation of scalpel.
The guide rail 49 plays overall fixation, and left-hand drive and right-hand drive Liang Ge mechanisms can be by guide rails
Groove or so adjustment position, and hole that can be by screw through the side of guide rail 49 and left-hand drive and the side plate bottom of right-hand drive
Screwed hole carries out threaded connection fixation.
Connect as shown in figure 1, three-dimensional force sensor 25 passes sequentially through D contiguous blocks 19, E contiguous blocks 20, F contiguous blocks 21, two grades of A
Bar 22, two grades of B connecting rods 23, two grades of C connecting rods 24, A contiguous blocks 16, B contiguous blocks 17, C contiguous blocks 18, one-level A connecting rods 13, one-level B
The translation displacements of connecting rod 14, one-level C connecting rods 15, first shaft coupling 10, second shaft coupling 11, the 3rd shaft coupling 12 three directions
The first motor 6, the second motor 7, the 3rd motor 8 are transmitted to, therefore the first motor 6, the second motor 7, the 3rd motor 8 pass through computer
Provide corresponding feedback moment.
As shown in Fig. 2 three-dimensional force sensor 25 can in the working space of permission free translation in three directions, when
Device it is idle do not operate in the case of, three-dimensional force sensor 25 can be placed on the first bottom plate of bottom plate fixed block 4, the second bottom
Screens on plate fixed block 5, to obtain rational original position.
As shown in figure 3, the rotation of rod handle 39 can be directly delivered in potentiometer 36, rod handle 39 can in the rotation of vertical direction
It is delivered to by bar contiguous block 38, bar fixed block 37, bar adapter sleeve 35, bar connecting shaft 40 in the second potentiometer 41, the water of rod handle 39
Square to rotation can be delivered to again by inside casing connector 29, inside casing main body 28, inside casing closure member 32 in the first potentiometer 31,
First potentiometer 31, the potentiometer 41 of potentiometer 36 and second are delivered to angular displacement information in computer.
As shown in fig. 6, the rotary motion of clip can be passed by clip top 47, clip intermediate mass 46, clip contiguous block 45
It is delivered in motor, motor provides corresponding feedback moment by computer.
As shown in fig. 7, the bottom of part 43 can agree with the groove of the upper end of rod handle 39 under device right-hand component clip, and lead to
Screw is crossed to fix.And device left-hand component handle 48 can be fixed with the upper end of rod handle 39 by screw.The lower section of housing main body 26
Side can be fixed with the top surface of three-dimensional force sensor 25 by screw；So, the displacement of translation can be just transmitted to three-dimensional by action bars
Force snesor 25, and then pass to motor.
As shown in figure 8, it is symmetrical that the whole mechanism left-hand part and right hand portion, which remove handle 48 and clip portion,.
Guide rail 49 plays overall fixation, and left-hand drive and right-hand drive Liang Ge mechanisms can be adjusted by groove in guide rail or so
Position, and through the hole of guide rail side and the side plate bottom screwed hole of right-hand man mechanism can be threadedly coupled admittedly by screw
It is fixed.
The operation principle of patent of the present invention is as follows：The present apparatus contains six spatial degrees of freedom, and 1. three-dimensional force sensor 25 exists
Moving up and down on vertical direction, 2. the moving left and right in the horizontal plane of three-dimensional force sensor 25,3. three-dimensional force sensor 25 exists
It is movable on horizontal plane, the 4. rotation of rod handle 39 in the horizontal plane, 5. rotation of the rod handle 39 on perpendicular, 6. rod handle
39 around own axis.Wherein, preceding three degree of freedom can be the information transmission of displacement to motor, and motor is by this information transmission
To computer, corresponding feedback force is provided, at the same time, clip portion has an additional free degree, motor therein
Corresponding feedback force can be provided, experiencer is obtained optimal training effect.Right-hand man mechanism can pass through the groove in guide rail
Appropriate left and right adjustment position.
Position and the angle of scalpel and endoscope can be adjusted flexibly in patent of the present invention, come while motor transmission can be experienced
Feedback force, reach the effect of realistic simulation ESS, shorten the training time of surgical doctor, save training expense
With in addition, this apparatus structure is simple, it is easy to Operation and maintenance.
Finally it should be noted that：The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention,
Although the present invention is described in detail with reference to the foregoing embodiments, for those skilled in the art, it still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic,
Within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., should be included in the present invention's
Within protection domain.
Claims (10)
1. a kind of device of six degree of freedom force feedback operative training, including left-hand drive and right-hand drive and guide rail (49), left
Arm device and right-hand drive are opposition identical structure, the left-hand drive and right-hand drive include base mechanism, linkage,
Cating nipple, operation linkage, the left-hand drive also include handle (48), and the right-hand drive also includes clip mechanism,
Base mechanism includes bottom plate (1), the first side plate (2), the second side plate (3), the first bottom plate fixed block (4), the second bottom plate fixed block
(5), the first motor (6), the second motor (7), the 3rd motor (8), terminal pad (9), first shaft coupling (10), second shaft coupling
(11), the 3rd shaft coupling (12)；The linkage includes one-level A connecting rods (13), one-level B connecting rods (14), one-level C connecting rods
(15), A contiguous blocks (16), B contiguous blocks (17), C contiguous blocks (18), D contiguous blocks (19), E contiguous blocks (20), F contiguous blocks (21),
Two grades of A connecting rods (22), two grades of B connecting rods (23), two grades of C connecting rods (24), three-dimensional force sensors (25)；Cating nipple includes housing
Main body (26), outer frame connector (27), inside casing main body (28), inside casing connector (29), interior housing connecting shaft (30), the first current potential
Device (31), the second potentiometer (41), inside casing closure member (32)；Operate linkage to include head (33), bar intermediate mass (34), bar to connect
Female connector (35), potentiometer (36), bar fixed block (37), bar contiguous block (38), rod handle (39), bar connecting shaft (40)；Clip mechanism
Including motor (42), clip bottom (43), clamp block (44), clip contiguous block (45), clip intermediate mass (46) and clip
Top (47), it is characterised in that：The base mechanism and linkage constitute a class Delta parallel mechanism.
2. a kind of device of six degree of freedom force feedback operative training according to claim 1, it is characterised in that：The bottom plate
(1) side of the left and right sides respectively with the first side plate (2) and the second side plate (3) is fixedly connected by screw；First
The top surface of bottom plate fixed block (4), the underrun screw of the second bottom plate fixed block (5) and bottom plate (1) is fixedly connected；Bottom plate
(1) bottom surface is fixedly connected with the first motor (6) and the second motor (7) placed vertically by screw so that put vertically
The first motor (6) and the second motor (7) put are fixed at bottom plate (1) bottom surface；The 3rd laterally disposed motor (8) passes through second
The circular hole of side plate (3) is fixedly connected with terminal pad (9) by screw, while terminal pad (9) and the left side of the second side plate (3)
Face is fixedly connected by screw so that the 3rd laterally disposed motor (8) can be fixed on the second side plate (3)；First
Side plate (2), the second side plate (3) side bottom have screwed hole, and the screwed hole is used to be connected by screw fixation with slide rail (49).
3. a kind of device of six degree of freedom force feedback operative training according to claim 1, it is characterised in that：Described first
Shaft coupling (10), second shaft coupling (11), the centre bore and the first motor (6), the second motor of one end of the 3rd shaft coupling (12)
(7) and the 3rd motor (8) axle it is circumferentially fixed together by holding screw or keyway, and prevent first by holding screw
Axle device (10), second shaft coupling (11) and the 3rd shaft coupling (12) axial float；The one-level A connecting rods (13), one-level B connecting rods
(14) and one-level C connecting rods (15) one end screwed hole and first shaft coupling (10), second shaft coupling (11), the 3rd shaft coupling (12)
The side opening of the other end is fixedly connected by screw, makes its one-level A connecting rods (13), one-level B connecting rods (14) and one-level C connecting rods
(15) rotational angle displacement can pass to first shaft coupling (10), second shaft coupling (11) and the 3rd shaft coupling (12), and it first
Shaft coupling (10), second shaft coupling (11) and the 3rd shaft coupling (12) so by angular displacement pass to the first motor (6), second electricity
Incremental encoder on machine (7) and the 3rd motor (8), its first motor (6), the second motor (7) and the 3rd motor (8) is by angle
Displacement, which is converted into pulse signal and passes to system of virtual operation, to be calculated, and its system of virtual operation is added after calculating
Feedback force data, the then driver by feedback force data transfer to motor, driver motor produces corresponding feedback
Torque.
4. a kind of device of six degree of freedom force feedback operative training according to claim 1, it is characterised in that：The one-level
One end of A connecting rods (13), one-level B connecting rods (14) and one-level C connecting rods (15) is equipped with side opening, the A contiguous blocks (16), B connections
Two through holes are equipped with block (17), C contiguous blocks (18), D contiguous blocks (19), E contiguous blocks (20) and F contiguous blocks (21), it is described
The two ends of two grades of A connecting rods (22), two grades of B connecting rods (23) and two grades of C connecting rods (24) are also equipped with side opening, three-dimensional force sensor (25)
Three bottom external parts are provided with hole, and side opening, two through holes and hole are respectively arranged with bearing, and side opening, two through holes and circular hole and bearing
Outer ring interference fit；Connection between bearing and bearing is interference fitted using the inner ring of tiny axle and bearing；One-level A connecting rods
(13), one-level B connecting rods (14) and the bearing and A contiguous blocks (16), B contiguous blocks (17), C contiguous blocks of one-level C connecting rods (15) one end
(18) bearing in one of hole is attached；A contiguous blocks (16), B contiguous blocks (17), another hole of C contiguous blocks (18)
Interior bearing and the bearing of two grades of A connecting rods (22), two grades of B connecting rods (23) and two grades of C connecting rods (24) one end are attached；Described two
Bearing and D contiguous blocks (19), the E contiguous blocks (20) of level A connecting rods (22), two grades of B connecting rods (23) and two grades of C connecting rods (24) other ends
It is attached with the bearing of one end of F contiguous blocks (21)；D contiguous blocks (19), E contiguous blocks (20) and F contiguous blocks (21) other end
Bearing be connected with the bearing in the external part of three-dimensional force sensor (25).
5. a kind of device of six degree of freedom force feedback operative training according to claim 1, it is characterised in that：The three-dimensional
Translational degree of freedom of the force snesor (25) provided with three directions, the translation displacements of its three-dimensional force sensor (25) can pass through two grades
A connecting rods (22), two grades of B connecting rods (23), two grades of C connecting rods (24), one-level A connecting rods (13), one-level B connecting rods (14) and one-level C connecting rods
(15) change into angular displacement and pass to motor；Three-dimensional force sensor (25) obtains actual loading data, then passes through signal acquisition
Card passes to system of virtual operation, and system of virtual operation passes through the error of presetting theoretical calculation power and real power, automatic meter
Additional balancing force is calculated, the first motor (6), the second motor (7), the driver of the 3rd motor (8), driver is then passed to
The first motor (6), the second motor (7), the 3rd motor (8) is driven to produce gravity and inertia that additional compensation force compensating falls device
Power.
6. a kind of device of six degree of freedom force feedback operative training according to claim 1, it is characterised in that：The housing
Main body (26) is fixed by screw with outer frame connector (27) and constitutes housing, and inside casing main body (28) passes through with inside casing connector (29)
Screw, which is fixed, constitutes inside casing；The interstitial hole of outer frame connector (26) is respectively arranged with bearing with side opening below inside casing main part (28),
And the outer ring of bearing is interference fitted with hole, interior housing connecting shaft (30) and the inner ring of bearing are interference fitted so that interior housing exists
Lower section is hinged；The axle for the first potentiometer (31) placed vertically passes through the through hole of housing main body (26), the first potentiometer
(31) shell is fixed by hexagonal (hexagon)nut and housing main body (26)；The axle for the potentiometer (31) placed vertically also extends through inside casing main body
(28) upper-side hole, and mutually agree with the yi word pattern protrusion of inside casing closure member (32), and inside casing closure member (32) passes through spiral shell
Nail is fixed with inside casing main body (28), so that interior housing is up hinged.
7. a kind of device of six degree of freedom force feedback operative training according to claim 1, it is characterised in that：The head
(33) bottom with bar intermediate mass (34) is threadably secured, the top of the bar intermediate mass (34) and the bottom of bar adapter sleeve (35)
Portion is fixed by screw；The axle of potentiometer (36) passes through the through hole of bar fixed block (37), and causes current potential by hexagonal (hexagon)nut
The shell of device (36) is fixed with bar fixed block (37)；The middle side opening of bar fixed block (37) and bar adapter sleeve (35) is solid by screw
It is fixed；The intermediate throughholes of bar contiguous block (38) are interference fitted built with bearing, and the outer ring of bearing with hole, the upper end of rod handle (39)
Through the inner ring of bearing, coordinate with bearing inner race gap, the upper end side opening of bar contiguous block (38) and bar adapter sleeve (35) passes through spiral shell
Nail is fixed；The yi word pattern protrusion of the lower end of rod handle (39) mutually agrees with potentiometer (36), so that the rotation angular displacement of rod handle (39)
With regard to that can be delivered in potentiometer (36), angular displacement is converted to electric signal and passed in system of virtual operation by potentiometer (36).
8. a kind of device of six degree of freedom force feedback operative training according to claim 1, it is characterised in that：In the bar
Between block (34) left surface and the right flank of bar connecting shaft (40) fixed by screw, the interstitial hole of inside casing connector (29) is built-in
There is bearing, and the outer ring of bearing is interference fitted with hole；The left end of bar connecting shaft (40) and the inner ring of bearing are interference fitted；Laterally
The centre of right side through hole and bar intermediate mass (34) that the axle for the second potentiometer (41) placed sequentially passes through inside casing main body (28) leads to
Hole, shell and the inside casing main body (28) of the second potentiometer (41) are fixed by hexagonal (hexagon)nut, the axle and bar of the second potentiometer (41)
The yi word pattern protrusion of connecting shaft (40) right-hand member mutually agrees with, so that the angular displacement of the perpendicular of action bars is with regard to that can be delivered to the second electricity
In position device (41)；Angular displacement is converted to electric signal and passed in system of virtual operation by the second potentiometer (41)；The motor (42)
Between the arc depression for being sandwiched in clip bottom (43) and clamp block (44), clip bottom (43) and clamp block (44)
Pass through bolt hexagonal (hexagon)nut clamping motor (42) shell；The small through hole of one end of clip contiguous block (45) passes through with motor (42) axle
Holding screw or keyway connection are circumferentially fixed, and prevent by holding screw the axial float of clip contiguous block (45)；Clip
One end of intermediate mass (46) and the other end of clip contiguous block (45) are fixed by screw, the other end of clip intermediate mass (46) with
Part (47) is fixed by screw on clip；The angular displacement on clip top (47) is with regard to that can pass on motor (42), motor (42)
Incremental encoder angular displacement be converted into pulse signal pass to system of virtual operation and calculated, system of virtual operation warp
Obtain feeding back force data accordingly after crossing calculating, then the driver by feedback force data transfer to motor (42), driver drives
Dynamic motor (42) produces corresponding feedback moment.
9. a kind of device of six degree of freedom force feedback operative training according to claim 1, it is characterised in that：The clip
The bottom of bottom (43) can agree with the groove of rod handle (39) upper end, and be fixed by screw；The handle (48) and rod handle
(39) upper end is fixed by screw；The lower section side of the housing main body (26) can lead to the top surface of three-dimensional force sensor (25)
Screw is crossed to fix；Action bars can just be transmitted to the displacement of translation three-dimensional force sensor (25), and then pass to motor.
10. a kind of device of six degree of freedom force feedback operative training according to claim 1, it is characterised in that：It is described to lead
Rail (49) plays overall fixation, and left-hand drive and right-hand drive Liang Ge mechanisms can be adjusted by groove in guide rail or so
Position, and can be carried out by screw through the hole of guide rail (49) side and the side plate bottom screwed hole of left-hand drive and right-hand drive
Threaded connection is fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710328491.6A CN107038944A (en) | 2017-05-11 | 2017-05-11 | A kind of device of six degree of freedom force feedback operative training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710328491.6A CN107038944A (en) | 2017-05-11 | 2017-05-11 | A kind of device of six degree of freedom force feedback operative training |
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| Publication Number | Publication Date |
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| CN107038944A true CN107038944A (en) | 2017-08-11 |
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ID=59538551
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710328491.6A Pending CN107038944A (en) | 2017-05-11 | 2017-05-11 | A kind of device of six degree of freedom force feedback operative training |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112349191A (en) * | 2020-10-14 | 2021-02-09 | 北京众绘虚拟现实技术研究院有限公司 | Parallel force feedback mechanism for laparoscopic surgery simulation |
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Application publication date: 20170811 |