Source: https://patents.google.com/patent/CN105009185A/en
Timestamp: 2020-02-17 14:06:36
Document Index: 35332319

Matched Legal Cases: ['art 13', 'art 16', 'art 16', 'art 16', 'art 16', 'art 16', 'art 16', 'art 16', 'art 16', 'art 24', 'art 24', 'art 24', 'art 24', 'art 25', 'art 16', 'art 16', 'art 16', 'art 16']

CN105009185A - Haptic user interface device for surgical simulation system - Google Patents
CN105009185A
CN105009185A CN201480005073.8A CN201480005073A CN105009185A CN 105009185 A CN105009185 A CN 105009185A CN 201480005073 A CN201480005073 A CN 201480005073A CN 105009185 A CN105009185 A CN 105009185A
CN201480005073.8A
CN105009185B (en
克里斯特尔·约翰逊
安德斯·拉尔森
马蒂亚斯·尼斯托姆
外科科学瑞典有限公司
2013-01-24 Priority to EP13152558.6 priority Critical
2013-01-24 Priority to EP13152558.6A priority patent/EP2760003A1/en
2014-01-21 Application filed by 外科科学瑞典有限公司 filed Critical 外科科学瑞典有限公司
2015-10-28 Publication of CN105009185A publication Critical patent/CN105009185A/en
2018-02-13 Publication of CN105009185B publication Critical patent/CN105009185B/en
For the haptic user interface device of surgery simulation system
The present invention relates to a kind of user interface device for surgery simulation system (user interfacedevice), and especially relate to a kind of user interface device for simulating laparoscopic surgery.
In recent years, in order to train doctor not make patient be placed in dangerous situation in various operation, surgery simulation system is applied more and more.Especially in Minimally Invasive Surgery field, as in the fields such as laparoscope, endoscope, colonoscopy, these simulation systems have obtained significant accreditation.During Minimally Invasive Surgery, doctor depends on the image on screen usually, instead of the real image of patient, and when image rendering powerful at present can be used, such image can with very high real degree simulation.
In order to exchange with simulation softward, simulation system also needs input media, and namely doctor is exercisable and simulate the hardware of actual operation apparatus.The physical appearance of such input media should be similar to real instrument with function.But they also must be provided for the sensor of the current location detecting simulated instrument, thus guarantee the image that simulation softward provides suitable on screen.In addition, such device preferably includes tactile feedback, namely provides the force feedback will run into during actual operation.
With regard to laparoscope, the example of tactile-sense input device is the laparoscopic surgery workstation (Laparoscopic Surgical Workstation) (LSW) from Immersion company.This device comprises the stiff shaft that is equivalent to the instrument portions being inserted into patient inside and doctor can move apparatus handle with it.In order to simulate the degree of freedom entering the real instrument in patient body through an osculum, axle on the pivotal point with two degree of freedom (rotation alpha, β) by frame supported.In addition, axle can along its longitudinal axis with linear movement translation (namely enter and leave analogue body) and rotate around this longitudinal axis.Input media comprises the sensor of all degree of freedom of the rotation for comprising axle, and is set to the topworks providing force feedback in all degree of freedom.Force and motion is transmitted between topworks and moving-member by line (wire).
The problem of line is, along with user's moving boundary, the path that line is followed changes.This causes the stress in line, causes excessive wear and needs frequently to be changed.Although line itself is inexpensive, the process of more thread-changing is complicated and expensive.
Patents file is in this respect US 6,323,837 and US 6,902,405.
The object of the invention is the shortcoming solving prior art, and provide the user interface device of improvement, its function is durable and manufacture cost performance is high.Another object is to provide user interface device, and it is in use supplied to the experience of user closer to the experience of similar actual operation apparatus.
According to the embodiment of the present invention, these and other objects are realized by the haptic user interface device for surgery simulation system, haptic user interface device comprises: framework, its have firm banking, relative to base around the rotatable neck portion of first axle and relative to neck portion around the rotatable suspension part of the second axis (suspension portion), this second axis and first axle not parallel; And apparatus, it has the stiff shaft supported pivotly by suspension part.Device also has and is arranged on framework and is set to provide force feedback to first topworks of user when rotating apparatus around first axle, and to be arranged on framework and to be set to when providing force feedback to second topworks of user around during the second axis rotation apparatus.First topworks and the second topworks are arranged in neck portion.
Because Liang Ge topworks is installed in neck portion, and therefore together move around first axle with neck portion, so the weight of these topworkies can be arranged more symmetrically around first axle.Therefore, when rotating apparatus around first axle, interface device is supplied to the sense of equilibrium that user improves.
Also allow motor directed along neck portion, because this reducing the space requirement for base according to the design of this embodiment of the present invention.
Shi Liangge topworks another advantage be all arranged in neck portion is that the electrical fitting of two motors can be arranged on the same section of framework, namely in neck portion.
In order to transmitting torque between the first motor and base and/or between the second motor and suspended portion divide, flexible drive element can be used, such as driving-belt or line.
In addition, owing to being set to provide the second topworks of force feedback will rotate around first axle in company with apparatus around the second axis, so the second motor will to become fixed relationship directed with the second axis.The flexible drive element extended between dividing in the second topworks and around the suspended portion of the second axial-movement, such as driving-belt or line, therefore by running in fixing path, namely can not be subject to distortion or torsion.Which increase the life-span of flexible drive element.
According to preferred embodiment, stiff shaft is still moveable along the longitudinal axis of stiff shaft relative to suspension part.This is supplied to the extra degree of freedom of interface device, is necessary permitting in eurypalynous simulation.
Stiff shaft can be fixing relative to suspension part with regard to the rotation of the longitudinal axis around stiff shaft.Such design can allow the mechanical type of stiff shaft summary to hang.In this case, if be that simulation is necessary around the rotation of longitudinal axis, then this rotation can be provided by the handle of apparatus.
Stiff shaft can have tooth bar on side, and tooth bar engages the gear on described framework, thus converts the linear movement of axle the rotation of gear to.Such design can be the effective means of the detection guaranteeing shaft position and the force feedback undertaken by the topworks being connected to gear.
Describe the present invention in more detail with reference to the accompanying drawings, accompanying drawing shows current preferred mode of the present invention.
Fig. 1 is the schematic diagram of the surgery simulation system with user interface device according to embodiment of the present invention.
Fig. 2 illustrates the degree of freedom of the axle of apparatus in Fig. 1.
Fig. 3 is the schematic diagram of the surgery simulation system with user interface device according to embodiment of the present invention.
Fig. 1 illustrates the user interface device 1 according to an embodiment of the invention, schematically connects the part as simulation system 2.
Simulation system 2 comprises the processing unit 3 run for the simulation softward of sham operated process, and for the display 4 to user's display simulation process visualization.Interface device 1 is connected with simulation system, and allows user to provide input to system 2, thus with analog AC visual in a display device.Interface is sense of touch, and namely, it is applicable at least some degree of freedom at interface, be supplied to the force feedback of user from simulation.
User interface device 1 comprises removable apparatus 10, the stiff shaft 21 that removable apparatus 10 has handle 20 and hung pivotly by framework 11.As shown in Figure 2, framework 11 allows axle 21 around the pivoting action of pivot points P, is equivalent to actual operation apparatus around the pivoting action of inlet point entering human body.In surgical simulation interface device, this pivoting action is mechanically divided into the rotation of two different axis A and B around the longitudinal axis C being orthogonal to axle usually.In illustrated situation, first axle A and the second axis B is orthogonal, but this is not absolute necessary condition.
In addition, framework 11 allows axle relative to the translation motion of framework, and alternatively, allows axle around the rotation of its longitudinal axis C.As the alternative of this axial-rotation of axle, in order to provide this degree of freedom to user, handle can be connected to axle rotatably.
Fig. 3 very schematically illustrates some parts of the user interface device 1 of Fig. 1, so that the various degree of freedom of illustrated frame 11.
In the illustrated embodiment, the rotation around first axle A is provided by the neck portion 15 being pivotally mounted to firm banking 12 of framework 11.The top of base comprises torque-transfer members, is the disc-shaped part 13 formed coaxially around axis A herein.First topworks, such as electro-motor 14, be fixedly secured to neck 15, and be set to via dish 13 transmitting torque to base 12.As schematically shown in Fig. 2, this can be completed by the driving-belt 7 arranged around component 13 and motor drive shaft 6.Preferably, be with as cog belt, and component 13 has corresponding tooth on its outer surface.By the operation of motor 14, force feedback can be provided for the motion of apparatus around axis A.It should be noted that therefore the motor 14 being installed to framework 11 will move around axis A together with neck 15.
Rotation sensor (not shown) is provided for and detects the position of neck 15 relative to base 12.Sensor advantageously can be integrated in motor 14 and to be set to the rotary encoder of the rotation detecting motor drive shaft 6.
The rotation around the second axis B is provided at the far-end 15a of neck 15.Suspension part 16 is installed on far-end 15a, being rotatable around axis B.Suspension part 16 is set to the axle 21 of hanging apparatus 10, and the details of this suspension is discussed below.Second electro-motor 17 is installed on neck 15, and is set to transmitting torque to suspension part 16.As shown in Figure 3 schematically, this can be completed by the driving-belt 8 arranged around part 16 and motor drive shaft 9.By the operation of motor 17, force feedback can be provided for the motion of apparatus 10 around axis B.Rotation sensor (not shown) is provided to detect the position of suspension part 16 relative to the far-end 15a of neck 15.Sensor advantageously can be integrated in motor 17 and to be set to the rotary encoder of the rotation detecting motor drive shaft 9.
Main with reference to Fig. 3, it should be noted that motor 17 is installed on neck 15, and therefore together will rotate around axis A with neck 15 and suspension part 16.Therefore the driving-belt 8 extended between the axle 9 and suspension part 16 of motor 17 or the path of drive coil will be fixed in space, and can not be subject to any distortion or torsion.This extends the life-span of band 8 or line significantly.
Also noteworthy is that, the rigid mechanical that this design is also conducive between motor 17 with suspension part 16 is coupled, as gear drive.
Motor 14 and 17 is preferably similar type and size, and is arranged on the opposition side of neck 15.The weight of two motors 14 and 17 is preferably in a basic balance around axis A, to provide the system more balanced, and the Consumer's Experience improved.
Hereinafter, with reference to Fig. 1, apparatus 10 is described.It should be noted that the apparatus that the invention is not restricted to particular type.In contrast, the present invention and advantage thereof are all relevant for having the various apparatuses that are set to around the stiff shaft of a some pivotable.
Disclosed apparatus comprises the handle 20 being attached to stiff shaft 21 end in FIG.Handle 20 has the sensor main body 22 and turnbarrel 23 and grip portions 24 that are fixedly connected to axle 21.Apparatus 10 special feature in the present embodiment is that stiff shaft can not rotate around himself longitudinal axis C.On the contrary, grip portions 24 and turnbarrel 23 all can rotate around the longitudinal axis C of axle 21.
As in real instrument, the rotation of sleeve 23 represents the rotation of apparatus 10.Therefore turnbarrel 23 will be detected by the sensor in sensor main body 22 relative to any rotation of sensor main body.Grip part 24 and turnbarrel 23 are coupled, so that they rotate usually together by certain friction.But user can overcome this friction, relative to each other rotate to make sleeve 23 and grip part 24.When sleeve 23 keeps fixing, the rotation of grip part 24 only represents the adjustment of grip part relative to apparatus, and can not affect the process of simulation.But when grip part 24 keeps fixing, sleeve 23 will represent the rotation of apparatus relative to the rotation of sensor main body, and correspondingly be detected by sensor main body.
Grip portions 24 allows user to use scissor-shaped grip part 25 to perform holding action, and this action also detects by the sensor in sensor main body 22.Signal wire 26 connecting sensor main body 22 and framework 11, in illustrative example, the far-end 15a of connecting sensor main body 22 and neck 15.Signal wire 26 makes the communication of the sensor signal from sensor main body 22 feasible.This signal wire is flexible, to allow apparatus 10 relative to the motion of framework 11.
In the illustrated embodiment, interface device 1 not being suitable for provide any with apparatus around the force feedback that the rotation of axis C is associated.It should be noted that when operating at inside of human body, the power acted under this degree of freedom in real instrument is usually very limited.But if this feedback still needs, it can to realize with the rotatable communication of sleeve 23 relative to sensor main body by exerting all one's strength.As a simple example, passive variable detent can be set to sleeve 23.Such detent will introduce resistance with rotational sleeve, and this resistance can according to analog variation.Certainly, force feedback initiatively also can use suitable topworks's imagination, such as electro-motor.But importantly this topworks, if be arranged on handle, can not be too heavy or too large, because it may have a negative impact to Consumer's Experience in other respects.
Stiff shaft 21 is installed to the suspension part 16 of framework 11, can move by axis C along the longitudinal.3rd electro-motor 27 is installed to suspension part 16, power is passed to axle 21 along axis C.By the operation of motor 27, therefore force feedback can provide along axis C.Sensor (not shown) is arranged in suspension part 16 with the linear movement of detection axis relative to part 16.In the example in the figures, axle 21 is provided with tooth bar 28 on side, the gear 29 on the end of tooth bar 28 clutch motor axle.Therefore any linear movement of axle 21 will be converted into rotary motion effectively, and wherein moment of torsion can be applied to axle 21 by motor 27.The detection of linear movement is also easy, and sensor can be integrated in motor 17 and be set to detect the rotary encoder of rotation of motor drive shaft.
The base 12 of framework 11 is installed to control module 30, and control module 30 comprises and is normally arranged on driving circuit 31 on printed circuit board (PCB) 33 and communication interface 32.Control module 30 can be incorporated on worktable (not shown).Interface 32 is connected to the sensor signal received from the different sensors in handle 10 and framework 11, and these signals are communicated with simulation system 2.Interface 32 is also connected to and receives from the force feedback signal of simulation system 2, namely acts on the power in simulated instrument as the result of user action.Driving circuit 31 is connected to interface 32, and is set to based on the force feedback signal CD-ROM drive motor 14,17 and 27 from simulation system.Herein, interface 32 is connected with simulation system via the signal wire 34 of the terminal 35 of connection control unit 30 with the processing unit 3 of simulation system.Alternatively, it can be wireless for connecting, such as bluetooth or WiFi.
Interface device 1 also comprises parking device (parking arrangement) 40, to guarantee that apparatus 10 is positioned at predetermined stand 41.Device 40 comprises receiver 42, and receiver 42 is installed to base 12 (, it is installed on control module 30) herein with fixed relationship and is applicable to hold the far-end 21a of stiff shaft 21.Receiver 42 preferably has the shape making axle 21 be directed into the position fully determined, here it is held in place by suitable power.In the present embodiment, receiver 42 has forked shape.Receiver 42 can have magnet 43, so that axle 21 is fixed on stand 41 place.Other design of receiver is possible equally.
Parking device 40 also comprises electronic switch 44, and electronic switch 44 provides and shows that axle 21 is parked in the output signal in receiver 42.Switch 44 can be mutually integrated with magnet 43 (if existence), or can be independent device.Switch 44 is connected with interface 32 by communication line 45, and interface 32 is configured such that output signal communicates with simulation system 2.
By providing to simulation system 2, therefore parking device 40 shows that apparatus is in the signal of its stand.The stand fully determined by requiring apparatus 10 to be parked in this before starting new simulation, the automatic calibration of simulation system is possible.
Those skilled in the art recognizes that the present invention is never only limitted to the preferred implementation of foregoing description.In contrast, within the scope of appended claims, many modifications and variations are possible.Such as, the sensor of other types and scrambler can be used, for rotating the detection with translation.Such as, hall effect sensor or piezoelectric transducer.In addition, the torque transfer from motor 14 and motor 17 can comprise suitable gear drive to replace V belt translation.
1. one kind for the haptic user interface device (1) of surgery simulation system (2), comprising:
Framework (11), its have firm banking (12), relative to described base (12) around first axle (A) rotatable neck portion (15) and relative to described neck portion (15) around the rotatable suspension part (16) of the second axis (B), described second axis (B) is not parallel with described first axle (A)
Apparatus (10), it has the stiff shaft (21) hung by described suspension part (16), to be pivotable around described first axle (A) and described second axis (B),
First topworks (14), it is arranged on described framework (11), and is set to, when rotating described apparatus (10) around described first axle (A), provide force feedback to user, and
Second topworks (14), it is arranged on described framework (11), and is set to, when rotating described apparatus (10) around described second axis (B), provide force feedback to user,
Described first topworks and described second topworks are arranged in described neck portion (15).
2. user interface according to claim 1, also comprise the first flexible drive element (7), it is set to when described apparatus is mobile around described first axle (A), transmitting torque between described first motor (14) and described base (12).
3. user interface according to claim 1 and 2, also comprise the second actuated element (8), it is set to when described apparatus is mobile around described second axis (B), transmitting torque between described second motor (17) and described suspension part (16).
4., according to user interface in any one of the preceding claims wherein, wherein said stiff shaft (21) is moveable relative to described suspension part (16) along the longitudinal axis of described stiff shaft (21).
5. according to user interface in any one of the preceding claims wherein, also comprise the handle (20) allowing apparatus (10) described in user operation, described handle (20) has the rotatable grip portions of longitudinal axis (24) around described stiff shaft (21).
6., according to user interface in any one of the preceding claims wherein, wherein said stiff shaft (21) is fixing relative to described suspension part (16) with regard to the rotation of the longitudinal axis around described stiff shaft (21).
7. user interface according to claim 6, wherein said stiff shaft (21) has tooth bar (28) on side, described tooth bar (28) engages the gear (29) on described framework (11), thus the linear movement of described axle is converted to the rotation of described gear.
8. user interface according to claim 7, also comprises and is connected to described gear (29) and is set to provide force feedback to the topworks of user (27).
9. a surgery simulation system, comprising:
For performing the processing unit (3) of the simulation softward of sham operated process,
For the visual display (4) of display simulation process,
According to user interface device in any one of the preceding claims wherein (1), it is connected to described processing unit (3), exchanges with computer simulation visual in described display for allowing user.
CN201480005073.8A 2013-01-24 2014-01-21 Haptic user interface device for surgery simulation system CN105009185B (en)
CN105009185A true CN105009185A (en) 2015-10-28
CN105009185B CN105009185B (en) 2018-02-13
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