CN107067921B - A kind of force feedback apparatus that can be extended to seven freedom - Google Patents
A kind of force feedback apparatus that can be extended to seven freedom Download PDFInfo
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- CN107067921B CN107067921B CN201610856122.XA CN201610856122A CN107067921B CN 107067921 B CN107067921 B CN 107067921B CN 201610856122 A CN201610856122 A CN 201610856122A CN 107067921 B CN107067921 B CN 107067921B
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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
A kind of force feedback apparatus that can be extended to seven freedom, including, four-degree-of-freedom device for force feedback, free degree expanding unit, handle.Wherein four-degree-of-freedom device for force feedback is threadably secured with handle is connected composition four-degree-of-freedom force feedback apparatus, the apparatus can realize 3 directions rotation and along joystick shaft to move；The four-degree-of-freedom device for force feedback is threadably secured with the free degree expanding unit when being connected composition seven freedom force feedback apparatus, which can realize the rotation in 3 directions, the movement in 3 directions and scissors handle shearing motion.The feedback force of each free degree is provided by a single motor, and force-feedback control is accurate, and controllability is strong.Mechanism is compact-sized at the same time, can select composition four-degree-of-freedom force feedback apparatus or seven freedom force feedback apparatus according to requirements, can simulate more surgical apparatuses, and small manufacture cost is low.
Description
Technical field
The present invention relates to a kind of mankind and computer interface equipment, are specifically a kind of virtual emulation for training of doctors
Force feedback surgical instrument.
Background technology
Recently as the fast development of virtual reality technology, it is used widely in many fields at present.Such as：Using
In the training of trainee surgeon, intern or other operators or user's " manipulation " scalpel or probe are in computer simulation
" body " carry out operative training, be trained compared on traditional human cadaver's sample, which can provide one
More real manikin, may be reused reduces surgery training expense.Training doctor's actual operation operating experience, shortens training
Instruct the cycle.
When carrying out virtual operation training, doctor needs the experience of real tactile and vision, " sensation " scalpel or hand
Art pincers need to be very important with great power when utensil moves in human body.The experience that power is felt is usually from force feedback apparatus
Middle acquisition, the free degree that more successful force feedback apparatus can be realized at present is fixed, for some specific surgical scenes
It cannot well adapt to.In addition the achievable free degree is less mostly for current power backhand art feedback apparatus, it is impossible to simulation fortune
The operating theater instruments of dynamic state complex, and it is multi-connecting-rod mechanism that most of multivariant force feedback apparatus can be achieved at present, its
Movement is not steady enough.
The content of the invention
The present invention is directed to deficiencies of the prior art, devises a kind of force feedback medical training device of virtual emulation
Tool, the present invention can select 4 freedom degree force feedback apparatuses of composition or 7 free force force feedback apparatuses according to requirements, can mould
Intend more surgical operating instruments.
The present invention is achieved through the following technical solutions：Including：Four-degree-of-freedom device for force feedback, free degree expanding unit, hand
Handle.Wherein four-degree-of-freedom device for force feedback is threadably secured with handle is connected composition four-degree-of-freedom force feedback apparatus, described
Four-degree-of-freedom device for force feedback is threadably secured with free degree expanding unit is connected composition seven freedom force feedback apparatus.
The four-degree-of-freedom device for force feedback includes：Stent, force feedback component I, force feedback component II, force feedback component
Ⅲ.Waling stripe one end wherein in force feedback component I is connected by bearing with stent, and the other end passes through with force feedback component II
Revolute pair connects, and the sleeve of force feedback component III passes through the hole of supporting block in force feedback component II, and with friction pulley squeezed tight
Coordinate.
The free degree expanding unit includes：Novel ball pair supporting rack, driving motor, motor fixing frame, turbine group, snail
Bar, force feedback component IV, wherein driving motor is fixed on novel ball pair supporting rack by motor fixing frame, driving electricity
Machine output shaft is fixedly connected with worm screw, and the worm screw is connected with turbine group with gear, the turbine group is fixed by screw
In on novel ball pair supporting rack, force feedback component IV is fixedly connected by the secondary support frame aperture of the novel ball.
The force feedback component I includes：Motor, pinion gear, gear wheel, waling stripe are driven, wherein driving motor is fixed
In being surveyed in stent, the driving motor output shaft is fixedly connected with pinion gear, and the pinion gear is engaged with gear wheel, described
Gear wheel and waling stripe pass through axis connection.
The force feedback component II includes：Supporting block, driving motor, friction pulley.Wherein driving motor is fixed by screw
It is connected in supporting block, the driving motor output shaft is fixedly connected with friction pulley, the friction pulley and force feedback component
III sleeve squeezed tight coordinates.
The force feedback component III includes：Sleeve, ball bearing, operation lever, yielding coupling, driving motor, electric motor end cap.
One end of wherein operation lever is fixed in sleeve by ball bearing, and the operation lever other end passes through yielding coupling and driving
Motor output shaft connects, and the driving motor is fixed in sleeve by electric motor end cap, and the electric motor end cap is used with sleeve
Screw connects.
The novel ball pair supporting rack includes：Sphere, support plate, slide plate, ball subframe, wherein sphere are with support plate with sphere
Pair connection, the support plate are fixed in ball subframe, and 8 slide plates being distributed in around sphere are placed in sphere groove by bracing wire
Interior, the slide plate can be slided along groove, and the bracing wire other end is wound on turbine.
The force feedback component IV includes：Scissors handle, handle drives motor, operation lever, sleeve, ball bearing, elasticity connection
Axis device, operation lever driving motor, electric motor end cap, wherein handle drives motor are fixed on scissors handle, the handle drives
Motor output shaft is rotated with the folding of scissors handle, and the scissors handle is fixedly connected with operation lever, the operation lever
It is fixed on by ball bearing in sleeve, the operation lever other end passes through yielding coupling and operation lever driving motor output shaft
Connection, operation lever driving motor are fixed in sleeve by electric motor end cap, the electric motor end cap and sleeve screw
Connection.
A kind of force feedback apparatus that can be extended to seven freedom of the present invention has the advantages that：The present invention can be used for
Virtual operation training system, is a kind of human-computer interaction device, and the power that can be provided for operator in virtual operation feels feedback；This hair
The bright force feedback apparatus that can select to form the force feedback apparatus or seven freedom of four-degree-of-freedom according to requirements, wherein four selfs
3 rotational freedoms and the free degree moved axially along operation lever can be provided by degree force feedback apparatus, puncture needle can be simulated, inside peeped
The interventional operation equipments such as mirror, seven freedom force feedback apparatus can provide 3 rotational freedoms, 3 one-movement-freedom-degrees and 1 handle
The rotational freedom seized on both sides by the arms, can simulate the medical surgical instruments such as scalpel, surgical clamp；The present invention is compact-sized, small.
Brief description of the drawings
Fig. 1 to Fig. 3 is a kind of overall construction drawing for the force feedback apparatus that can be extended to seven freedom of the present invention.
Fig. 4 is cut-away view in force feedback component II.
Fig. 5 is the structure chart of force feedback component III.
Fig. 6 is novel ball pair support frame structure figure.
Fig. 7 is the structure chart of force feedback component IV.
Embodiment
1 elaborate below in conjunction with the accompanying drawings to attached drawing 7 to the specific embodiment of the present invention.
This example includes：Four-degree-of-freedom device for force feedback 1, free degree expanding unit 3, handle 2, wherein four-degree-of-freedom power are anti-
Feedback device 1 be threadably secured with handle 2 be connected composition four-degree-of-freedom force feedback apparatus, four-degree-of-freedom device for force feedback 1 and oneself
Connection is threadably secured by degree expanding unit 3 and forms seven freedom force feedback apparatus.
1 device of four-degree-of-freedom force feedback includes：Stent 101, force feedback component I, force feedback component II, force feedback component
III, 104 one end of waling stripe wherein in force feedback component I is connected by bearing with stent 101, the other end and force feedback component
II is connected by revolute pair, and 107 one end of waling stripe is connected by bearing with stent 101, and the other end is logical with force feedback component II
Revolute pair connection is crossed, the sleeve 115 of force feedback component III passes through the hole of supporting block 111 in force feedback component II, and and friction pulley
112 squeezed tights coordinate.
Free degree expanding unit includes：Novel ball pair supporting rack, force feedback component IV, driving motor 308, motor fixing frame
307th, turbine group 306, worm screw 309, wherein driving motor 308 is fixed on novel ball pair supporting rack by motor fixing frame 307
Its output shaft is fixedly connected with worm screw 309, and worm screw 309 is connected with turbine group 306 with gear, turbine group 306 is fixed by screw
On novel ball pair supporting rack, force feedback component IV is fixedly connected through support frame aperture with novel ball pair supporting rack, drives motor
308 output shafts connect position sensor.
Force feedback component I includes：Drive motor 108, driving motor 110, pinion gear 102, gear wheel 103, pinion gear
105th, gear wheel 106, waling stripe 104, waling stripe 107, wherein driving motor 108 is fixed in stent 101 and surveys, output shaft
It is fixedly connected with pinion gear 102, pinion gear 102 is engaged with gear wheel 103, and gear wheel 103 is connected with waling stripe 104 by axis
Connect.Driving motor 110, which is fixed in stent 101, to be surveyed, and output shaft is fixedly connected with pinion gear 105, pinion gear 105 and gear wheel
106 engagements, gear wheel 106 pass through axis connection with waling stripe 107.Angle position is connected with waling stripe 104, waling stripe 107
Displacement sensor, drives and is connected with velocity sensor on the axis of motor 108, driving motor 110.
Force feedback component II includes：Supporting block 111, driving motor 109, friction pulley 112.Wherein driving motor 109 passes through
Screw is fixedly connected on 111 in supporting block, and driving 109 output shaft of motor is fixedly connected with friction pulley 112, friction pulley 112 and power
115 squeezed tight of sleeve of feedback component III coordinates.Speed, position sensor are connected with driving 109 output shaft of motor.
Force feedback component III includes：Sleeve 115, ball bearing 117, operation lever 116, yielding coupling 119, driving motor
120, electric motor end cap 113, one end of operation lever 116 is fixed in sleeve 115 by ball bearing, and 116 other end of operation lever passes through
Yielding coupling 119 exports axis connection with driving motor 120, and driving motor 120 is fixed on sleeve 115 by electric motor end cap 113
Interior, electric motor end cap 113 is connected with sleeve 115 with screw.Speed, position sensor are connected with driving 120 output shaft of motor.
Novel ball pair supporting rack includes：Sphere 301, support plate 304, slide plate 302, bracing wire 303, ball subframe 305, sphere
301 are connected with support plate 304 with spherical pair, and support plate 304 is fixed in ball subframe, 8 slide plates being distributed in around sphere 301
302 are placed in sphere groove by bracing wire 303, and slide plate 302 can be slided along groove, and 303 other end of bracing wire is wound on turbine.It is sliding
Piece 302 is connected with pressure sensor with 301 contact side of sphere.A clamping force is provided for ball is secondary by the slip of slide plate 302, when
Ball subframe 305 around sphere 301 rotate when by frictional force give operator provide a feedback force.
Force feedback component IV includes：Scissors handle 311, handle drives motor 310, operation lever 312, sleeve 314, ball bearing
313rd, yielding coupling 318, operation lever driving motor 315, electric motor end cap 316, wherein handle drives motor 310 are fixed on scissors
On handle 311,310 output shaft of handle drives motor rotates, scissors handle 311 and operation lever with the folding of scissors handle 311
312 are fixedly connected, and operation lever 312 is fixed in sleeve 314 by ball bearing 313, and the other end of operation lever 312 is joined by elasticity
Axis device 318 exports axis connection with operation lever driving motor 315, and operation lever driving motor 315 is fixed on set by electric motor end cap 316
In cylinder 314, electric motor end cap 316 is connected with sleeve 314 with screw.Handle drives motor 310 and operation lever drive the defeated of motor 315
Shaft connection speed, position sensor.
Illustrate a kind of action implementation process for the force feedback apparatus that can be extended to seven freedom below.
When forming four-degree-of-freedom force feedback apparatus：Operation lever 116 is rotated around waling stripe 104 (or waling stripe 107)
When, drive waling stripe 104 (or waling stripe 107) to rotate, driving motor is driven by pinion gear 102 (or pinion gear 105)
108 (or driving motors 110) rotate, and controller receives the position of waling stripe 104 (or waling stripe 107), velocity of rotation letter
Number and received signal is handled, then controller sends control signal control motor and produces the output of corresponding torque, real
The now force feedback of the posture.
When operation lever 116 is around own rotation, driving motor 120 is driven to rotate by yielding coupling 119, controller receives
The position of operation lever 116, velocity of rotation signal are simultaneously handled received signal, and then controller sends control signal control
Motor produces corresponding torque output, realizes the force feedback of the posture.
When operation lever 116 is axially moveable, band moving sleeve 115 is axially moveable, and is driven and driven by the axial movement of sleeve 115
The rotation of dynamic motor 109, controller receive driving 109 velocity of rotation signal of motor and received signal are handled, then
Controller sends control signal control motor and produces corresponding torque output, realizes the force feedback of the posture.
When forming seven freedom force feedback apparatus：Operation lever 312 is along axial (or 107 axis of waling stripe of waling stripe 104
To) it is mobile when, drive operation lever 116 be axially moveable at the same time operation lever 116 around waling stripe 107 (or waling stripe 104) turn
Move, rotated by gear drive driving motor 110 (or driving motor 108), controller reception waling stripe 107 (or level is even
Bar 104) position, velocity of rotation signal and received signal is handled, then controller sends control signal control electricity
Machine produces corresponding torque output, realizes the force feedback of the posture.
Operation lever 312 along operation lever 116 move axially when, drive operation lever 116 to move axially, band moving sleeve 115 is along axis
To movement, driving motor 109 is driven to rotate by the axial movement of sleeve, controller receives the velocity of rotation letter of driving motor 109
Number and received signal is handled, then controller sends control signal control motor and produces the output of corresponding torque, real
The now force feedback of the posture.
Operation lever 312 around operation lever 116 rotate when, drive operation lever 116 rotate, pass through yielding coupling 119 drive drive
Dynamic motor 120 rotates, and controller receives 116 position of operation lever, velocity of rotation signal and received signal is handled, then
Controller sends control signal control motor and produces corresponding torque output, realizes the force feedback of the posture.
When operation lever 312 is around ball pair rotation, ball subframe 305 is rotated around sphere 301, passes through 302 control ball subframe 305 of slide plate
With 301 pressure sizes of sphere, frictional force size is controlled by pressure, realizes the force feedback of the posture.
When operation lever 312 is around own rotation, drives operation lever to drive motor 315 to rotate by yielding coupling 318, control
Device receives 312 position of operation lever, velocity of rotation signal and received signal is handled, and then controller sends control signal
Control motor to produce corresponding torque output, realize the force feedback of the posture.
Claims (9)
1. a kind of force feedback apparatus that can be extended to seven freedom, including：Four-degree-of-freedom device for force feedback, free degree extension dress
Put, handle, it is characterised in that four-degree-of-freedom device for force feedback is threadably secured with handle is connected composition four-degree-of-freedom force feedback
Apparatus, the four-degree-of-freedom device for force feedback be threadably secured with free degree expanding unit be connected composition seven freedom power it is anti-
Present apparatus.
A kind of 2. force feedback apparatus that can be extended to seven freedom according to claim 1, it is characterised in that described four
Freedom degree force feedback device includes：Stent, force feedback component I, force feedback component II, force feedback component III, it is characterised in that power
Waling stripe one end in feedback component I is connected by bearing with stent, and the other end is connected with force feedback component II by revolute pair
Connect, the sleeve of force feedback component III passes through the hole of supporting block in force feedback component II, and coordinates with friction pulley squeezed tight.
A kind of 3. force feedback apparatus that can be extended to seven freedom according to claim 1, it is characterised in that it is described from
Included by degree expanding unit：Novel ball pair supporting rack, driving motor, motor fixing frame, turbine group, worm screw, force feedback component IV,
It is characterized in that, driving motor is fixed on novel ball pair supporting rack by motor fixing frame, the driving motor output shaft
It is fixedly connected with worm screw, the worm screw is connected with turbine group with gear, the turbine group is fixed on novel ball by screw
On secondary supporting rack, force feedback component IV is fixedly connected by the secondary support frame aperture of the novel ball.
4. a kind of force feedback apparatus that can be extended to seven freedom according to claim 2, it is characterised in that the power is anti-
Feedback component I includes：Drive motor, pinion gear, gear wheel, waling stripe, it is characterised in that driving motor is fixed in stent
Survey, the driving motor output shaft is fixedly connected with pinion gear, and the pinion gear is engaged with gear wheel, the gear wheel
Pass through axis connection with waling stripe.
5. a kind of force feedback apparatus that can be extended to seven freedom according to claim 2, it is characterised in that the power is anti-
Feedback component II includes：Supporting block, driving motor, friction pulley, it is characterised in that driving motor is fixedly connected on support by screw
On block, the driving motor output shaft is fixedly connected with friction pulley, and the sleeve of the friction pulley and force feedback component III is tight
Close extrusion fit.
6. a kind of force feedback apparatus that can be extended to seven freedom according to claim 2, it is characterised in that the power is anti-
Feedback component III includes：Sleeve, ball bearing, operation lever, yielding coupling, driving motor, electric motor end cap, it is characterised in that operation
Bar one end is fixed in sleeve by ball bearing, and the operation lever other end passes through yielding coupling and driving motor output shaft
Connection, the driving motor are fixed in sleeve by electric motor end cap, and the electric motor end cap is connected with sleeve with screw.
7. a kind of force feedback apparatus that can be extended to seven freedom according to claim 3, it is characterised in that described new
Ball pair supporting rack includes：Sphere, support plate, bracing wire, slide plate, ball subframe, it is characterised in that sphere is connected with support plate with spherical pair
Connecing, the support plate is fixed in ball subframe, and 8 slide plates being distributed in around sphere are placed in sphere groove by bracing wire,
The slide plate can be slided along groove, and the bracing wire other end is wound on turbine.
8. a kind of force feedback apparatus that can be extended to seven freedom according to claim 3, it is characterised in that the power is anti-
Feedback component IV includes：Scissors handle, handle drives motor, operation lever, sleeve, ball bearing, yielding coupling, operation lever driving electricity
Machine, electric motor end cap, it is characterised in that handle drives motor is fixed on scissors handle, the handle drives motor output shaft
Rotated with the folding of scissors handle, the scissors handle is fixedly connected with operation lever, and the operation lever passes through ball bearing
It is fixed in sleeve, the operation lever other end is connected by yielding coupling with operation lever driving motor output shaft, described
Operation lever driving motor be fixed on by electric motor end cap in sleeve, the electric motor end cap is connected with sleeve with screw.
9. according to a kind of any force feedback apparatus that can be extended to seven freedom of claim 3 to 8, it is characterised in that
The driving motor is micro servo motor or stepper motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610856122.XA CN107067921B (en) | 2016-09-28 | 2016-09-28 | A kind of force feedback apparatus that can be extended to seven freedom |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610856122.XA CN107067921B (en) | 2016-09-28 | 2016-09-28 | A kind of force feedback apparatus that can be extended to seven freedom |
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| CN107067921A CN107067921A (en) | 2017-08-18 |
| CN107067921B true CN107067921B (en) | 2018-05-11 |
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| CN201610856122.XA Expired - Fee Related CN107067921B (en) | 2016-09-28 | 2016-09-28 | A kind of force feedback apparatus that can be extended to seven freedom |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108346336A (en) * | 2018-03-29 | 2018-07-31 | 安徽工程大学 | A kind of teaching aid for laparoscopic surgery training |
| CN108346338A (en) * | 2018-03-30 | 2018-07-31 | 安徽工程大学 | A kind of multiple degrees of freedom virtual surgery simulation device |
| CN108814729B (en) * | 2018-03-30 | 2021-02-05 | 安徽工程大学 | Multi-dimensional operating handle |
| CN112497234B (en) * | 2020-12-04 | 2024-02-02 | 沈阳通用机器人技术股份有限公司 | Four-axis force feedback handle and pose mapping method thereof |
| CN113012516B (en) * | 2021-03-11 | 2022-12-20 | 东南大学 | Three-freedom-degree force feedback handle comprising two vertically-staggered shafts |
| CN113103263B (en) * | 2021-04-08 | 2021-12-07 | 南京航空航天大学 | Three-degree-of-freedom rotary hand controller and control method thereof |
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