CN107564387B - An ophthalmic puncture operation training system - Google Patents

Abstract

The invention provides an ophthalmic puncture operation training system, which relates to the technical field of surgical robots. The ophthalmic puncture surgery training system includes a surgical platform and surgical instruments; the surgical platform includes a simulated eyeball, a first moment sensor, an upper platform, a telescopic branch chain, a restraint branch chain and a lower platform, and the simulated eyeball is installed on the first moment sensor. The sensor is installed on the upper platform, and the upper platform is supported on the lower platform through the telescopic branch chain and the restraint branch chain. Spherical hinge connection, fixed connection between the restraint branch chain and the lower platform; surgical instruments are used to perform surgical operations on the simulated eyeball, and the surgical instruments include the second torque sensor; according to the force signals of the first torque sensor and the second torque sensor, the telescopic The branch chain makes a corresponding telescopic movement, which can accurately control the spatial position of the simulated eyeball and facilitate adjustment.

Description

An ophthalmic puncture operation training system

technical field

The invention relates to the technical field of surgical robots, in particular to an ophthalmic puncture operation training system.

Background technique

Nowadays, advanced surgical instruments and intelligent equipment provide a great guarantee for the success of ophthalmic surgery. It requires the doctor to have good hand-eye coordination and the accuracy of the operation. These operations are very dependent on the doctor's experience.

In the past, the only way for doctors to gain experience was from actual clinical operations. However, since the surgical area of ophthalmic surgery is relatively small and the eye tissue is relatively compact, most of the accidents in surgery or postoperative complications are difficult. It was due to a doctor's error. With the development of science and technology, the development of surgical training system has promoted the learning speed of clinical experience, some of which are based on animal specimens, which are very close to the doctor's operating habits and the actual situation of surgery, but animal experiments are increasingly subject to animal ethics. The application process for animal experiments is becoming more and more complicated, which cannot meet the growing training needs.

In the existing anterior segment surgery training devices, bolts are mostly used to adjust the height of the artificial eyeball. However, such a form is inaccurate in fixing the position of the artificial eyeball and difficult to adjust.

Therefore, it is an urgent technical problem to design an ophthalmic puncture surgery training system that can simulate the physiological movement of the eyeball, fix the position of the eyeball accurately, adjust conveniently, and be used in ophthalmic surgery training for an unlimited number of times.

Contents of the invention

The purpose of the present invention is to provide an ophthalmic puncture surgery training system, which aims to at least partially solve the technical problems of inaccurate fixation and difficult adjustment of the position of the simulated eyeball by the existing anterior segment surgery trainer.

The first technical scheme provided by the present invention:

An ophthalmic puncture operation training system includes a surgical platform and surgical instruments; the surgical platform includes a simulated eyeball, a first moment sensor, an upper platform, a telescopic branch chain, a constraint branch chain and a lower platform, and the simulated eyeball is installed on the first On a torque sensor, the first torque sensor is installed on the upper platform, and the upper platform is supported on the lower platform through the telescopic branch chain and the constraint branch chain, and the telescopic branch chain and the The upper platforms, the telescopic branch chains and the lower platform, and the constraining branch chains and the upper platform are all connected by ball hinges, and the constraining branch chains and the lower platform are connected by ball joints. Fixedly connected; the surgical instrument is used to operate the artificial eyeball, and the surgical instrument includes a second torque sensor; according to the force signals of the first torque sensor and the second torque sensor, the telescopic branch chain out the corresponding telescopic movement.

Further, the number of the telescopic branch chains is 3, and the 3 telescopic branch chains are evenly spaced and connected to the edge area of the upper platform, and the constraint branch chain is connected to the center of the upper platform.

Further, the telescopic branch chain includes a push rod, a sleeve rod, a motor, a screw rod and a positioning pin, wherein the motor and the screw rod are located inside the sleeve rod; the top end of the push rod is connected to the The upper platform is connected, the bottom end of the push rod is inserted into the inside of the sleeve rod, the sleeve rod is connected with the lower platform, and the bottom end of the push rod is provided with a threaded hole matched with the screw rod. The screw rod is connected to the output shaft of the motor, and the positioning pin is used to limit the rotation of the push rod relative to the sleeve rod.

Further, a strip-shaped hole is opened on the outer peripheral surface of the push rod, and the strip-shaped hole extends along the length direction of the push rod, and the positioning pin is fixedly installed on the sleeve rod and inserted into the strip shaped hole; or, a strip-shaped hole is provided on the sleeve rod, and the strip-shaped hole extends along the length direction of the sleeve rod, and the positioning pin is fixedly installed on the push rod and inserted into the strip-shaped hole.

Further, the sleeve rod includes a main rod and a bottom rod, the bottom end of the push rod is inserted into the inside of the main rod, the main rod is connected to the top end of the bottom rod, and the bottom end of the bottom rod is connected to the bottom rod. The lower platform is connected, the motor is installed inside the bottom rod, and the screw rod is located inside the main rod.

Further, the telescopic branch chain also includes a bearing, the inner ring of the bearing cooperates with the screw rod, and the outer ring of the bearing cooperates with the inner surface of the sleeve rod.

Further, the ophthalmic puncture operation training system also includes a simulated eye socket, an upper connecting plate and a lower connecting plate, the simulated eyeball is installed in the simulated eye socket, the simulated eye socket is mounted on the upper connecting plate, the The upper connecting plate is installed on the first torque sensor, the first torque sensor is installed on the lower connecting plate, and the lower connecting plate is installed on the upper platform.

Further, the surgical instrument further includes a puncture part and a handle part, and the second torque sensor is installed between the puncture part and the handle part.

Further, the first torque sensor is a six-dimensional torque sensor.

The second technical scheme provided by the present invention:

A training system for ophthalmic puncture surgery includes a surgical platform and surgical instruments; the surgical platform includes a simulated eyeball, a parallel mechanism for supporting the simulated eyeball, and a first torque device installed between the simulated eyeball and the parallel mechanism sensor, the parallel mechanism includes a restraint branch chain and a plurality of telescopic branch chains; the surgical instrument is used to operate the artificial eyeball, and the surgical instrument includes a second torque sensor; according to the first torque sensor and the For the force signal of the second torque sensor, the telescopic branch chain makes a corresponding telescopic movement.

Compared with the existing anterior segment surgery training device, the beneficial effects of the ophthalmic puncture surgery training system provided by the present invention are:

First, the artificial eyeball is installed on the first torque sensor, and the first torque sensor can monitor the stress of the simulated eyeball, and the surgical instrument includes a second torque sensor, and the second torque sensor can monitor the force of the surgical instrument Happening. The artificial eyeball is supported on the telescopic branch chain and the constraint branch chain. According to the force signals of the first torque sensor and the second torque sensor, the operating position of the surgical instrument is calculated, and according to the magnitude of the force, the telescopic branch chain is made to make a corresponding telescopic movement, and the spatial position of the simulated eyeball is precisely controlled , and automatically adjust the position, so that the medical staff uses surgical instruments to perform surgical training on the simulated eyeball. The simulated eyeball can rotate under force, effectively simulating the rotation of the eyeball under force during ophthalmic surgery, and simplifying the training experience for trainers. way.

Secondly, the material of the simulated eyeball is close to the real eyeball, which can bring a more realistic feel and is very close to the real eye surgery, so that the trainer can get better experience.

Finally, the ophthalmic puncture surgery training system has a small structure and can be used repeatedly, so it has a good application prospect.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and thus It should be regarded as a limitation on the scope, and those skilled in the art can also obtain other related drawings based on these drawings without creative work.

Fig. 1 is a schematic structural diagram of an ophthalmic puncture surgery training system provided by an embodiment of the present invention.

Fig. 2 is a structural schematic diagram of the artificial eyeball and its related components in Fig. 1 .

Fig. 3 is a schematic structural diagram of the telescopic branch chain in Fig. 1 .

FIG. 4 is a schematic diagram of a full cross-section along line D-D in FIG. 3 .

Fig. 5 is a schematic structural diagram of the surgical instrument in Fig. 1 .

Fig. 6 is a block diagram of the workflow of the ophthalmic puncture surgery training system provided by the embodiment of the present invention.

Icons: 100-ophthalmology puncture surgery training system; 1-operating platform; 11-simulated eyeball; 12-simulated orbit; 13-upper connecting plate; 14-first moment sensor; 15-lower connecting plate; 16-upper platform; 17 -Telescopic branch chain; 171-push rod; 1711-bar hole; 172-main rod; 173-bottom rod; 174-motor; 175-coupling; 176-screw rod; 177-bearing; 18-constraint branch chain; 19-spherical hinge; 20-lower platform; 3-surgical instrument; 31-hand-held part; 32-second torque sensor; 33-puncture part.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In describing the present invention, it is to be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship that is usually placed when the product of the invention is used, or the orientation or positional relationship that is commonly understood by those skilled in the art. In order to facilitate the description of the present invention and simplify the description, it does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions, and should not be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise clearly specified and limited, the terms "installation", "installation", "connection" and "connection" should be understood in a broad sense, for example, it may be a fixed connection, It can also be a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

Please refer to FIG. 1 , this embodiment provides an ophthalmic puncture surgery training system 100 , and the ophthalmic puncture surgery training system 100 includes a surgical platform 1 and a surgical instrument 3 . The operation platform 1 comprises a simulated eyeball 11, a simulated orbit 12, an upper connecting plate 13, a first torque sensor 14, a lower connecting plate 15, an upper platform 16, a parallel mechanism and a lower platform 20, wherein the parallel mechanism includes a constraint branch chain 18 and multiple Root telescopic branch chain 17.

The parallel mechanism is a 3-SPS/S type, with three spatial rotation degrees of freedom, where S represents the spherical joint 19, and P represents the moving pair. The number of telescopic branch chains 17 is 3, and the 3 telescopic branch chains 17 are evenly spaced and connected to the edge area of the upper platform 16, and the constraint branch chain 18 is connected to the center position of the upper platform 16.

The upper platform 16 is supported on the lower platform 20 through the telescopic branch chain 17 and the restraint branch chain 18, between the telescopic branch chain 17 and the upper platform 16, between the telescopic branch chain 17 and the lower platform 20, and between the restraint branch chain 18 and the upper platform 16 All are connected by spherical hinges 19, and fixed connections are adopted between the restraining branch chains 18 and the lower platform 20.

Please refer to Fig. 2, the artificial eyeball 11 is installed in the artificial orbit 12, the artificial eye socket 12 is installed on the upper connecting plate 13, the upper connecting plate 13 is installed on the first moment sensor 14, and the first moment sensor 14 is installed on the lower connecting plate 15 , the lower connecting plate 15 is installed on the upper platform 16 .

The material property of the simulated eyeball 11 is similar to that of the real eyeball tissue, and the simulated eyeball 11 is produced by 3D printing technology. The first torque sensor 14 is a six-dimensional torque sensor with a model of Mini40.

Referring to Fig. 3 and Fig. 4, telescopic branch chain 17 comprises push rod 171, sleeve rod, motor 174, screw mandrel 176, bearing 177, coupling 175 and positioning pin 178, wherein, sleeve rod comprises main rod 172 and bottom rod 173, the top of the push rod 171 is connected with the upper platform 16, the bottom end of the push rod 171 is inserted into the inside of the main rod 172, the main rod 172 is connected with the top of the bottom rod 173, the bottom end of the bottom rod 173 is connected with the lower platform 20, and the motor 174 is installed inside the bottom rod 173, and the screw rod 176 is located inside the main rod 172, and the screw rod 176 is preferably a ball screw.

The bottom end of the push rod 171 is provided with a threaded hole matched with the screw rod 176, the screw rod 176 is connected to the output shaft of the motor 174 through a coupling 175, and the positioning pin 178 is used to limit the rotation of the push rod 171 relative to the sleeve rod. Motor 174 is preferably a servo motor.

A strip-shaped hole 1711 is opened on the outer peripheral surface of the push rod 171 , and the strip-shaped hole 1711 extends along the length direction of the push rod 171 . The positioning pin 178 is fixedly installed on the sleeve rod and inserted into the strip-shaped hole 1711 . It is easy to understand that, it is also possible that the sleeve rod is provided with a strip-shaped hole 1711 extending along the length direction of the sleeve rod, and the positioning pin 178 is fixedly installed on the push rod 171 and inserted into the strip-shaped hole 1711 .

The inner ring of bearing 177 cooperates with screw mandrel 176, and the outer ring of bearing 177 cooperates with the inner surface of sleeve rod. Bearing 177 is preferably a deep groove ball bearing.

The working principle of the telescopic branch chain 17: the motor 174 is connected with the lead screw, and the lead screw is threadedly connected with the push rod 171. At the same time, the push rod 171 is provided with a strip-shaped hole 1711 along the length direction, and the push rod 171 is limited by the positioning pin 178. It can only slide along the direction of the strip hole 1711, so that the circular motion of the motor 174 is converted into the linear motion of the push rod 171, and the push rod 171 will drive the upper platform 16 to move, thereby adjusting the spatial position of the artificial eyeball 11.

Please refer to FIG. 5 , the surgical instrument 3 is used to operate the artificial eyeball 11 , and the surgical instrument 3 includes a handle part 31 , a second torque sensor 32 and a puncture part 33 . The second torque sensor 32 is installed between the piercing part 33 and the handle part 31 . The model of the second torque sensor 32 is Nano17.

The ophthalmic puncture surgery training system 100 provided in this embodiment can quickly calculate the action position and force of the puncture part 33 of the surgical instrument 3 on the simulated eyeball 11 according to the force signals of the first torque sensor 14 and the second torque sensor 32 size, so that the telescopic branch chain 17 makes a corresponding telescopic movement, thereby adjusting the spatial position of the artificial eyeball 11, making the artificial eyeball 11 imitate the movement of the real eyeball, and obtaining a real and effective operation experience for the trainer.

Please refer to FIG. 6, the working process of the ophthalmic puncture surgery training system 100:

(1) Judging whether the monitored force of the second torque sensor 32 is equal to 0, if so, then judging whether the parallel mechanism is at the preset initial position, if so, completing a working cycle, and then using the timer control to start after 1s In the next working cycle, it is re-judging whether the force detected by the second torque sensor 32 is equal to 0, and so on.

(2) Judging whether the monitoring force of the second torque sensor 32 is equal to 0, if so, then judging whether the parallel mechanism is at the preset initial position, if not, then controlling the parallel mechanism to get back to the preset initial position, and completing a job cycle, and then use the timer control to start the next working cycle after 1s, that is, re-judging whether the force detected by the second torque sensor 32 is equal to 0, and so on.

(3) Judging whether the force detected by the second torque sensor 32 is equal to 0, if not, then judging whether the parallel mechanism is at the preset initial position, if so, then according to the action position and force of the surgical instrument 3 on the simulated eyeball 11 , solve the required length of each telescopic branch chain 17, then, control the motor 174 to work, make each telescopic branch chain 17 reach the required length, then complete a work cycle, and then use the timer control to start the next work cycle after 1s, namely It is re-judged whether the force detected by the second torque sensor 32 is equal to 0, and so on.

(4) Judging whether the monitored force of the second torque sensor 32 is equal to 0, if not, then judging whether the parallel mechanism is at the preset initial position, if not, controlling the motor 174 to stop working, and 3 pairs of artificial eyeballs according to the current surgical instrument 11 position of action and the magnitude of force, solve the required change amount of the length of each telescopic branch chain 17, then, control motor 174 work, make the length of each telescopic branch chain 17 reach required this variable, then complete a working cycle, Then use the timer control to start the next working cycle after 1 second, that is, re-judgment whether the force detected by the second torque sensor 32 is equal to 0, and so on.

The beneficial effects of the ophthalmic puncture surgery training system 100 provided in this embodiment are:

Firstly, according to the force signals of the first torque sensor 14 and the second torque sensor 32, the action position of the surgical instrument 3 is calculated, and according to the size of the force, the telescopic branch chain 17 is made to perform a corresponding telescopic movement, so that the medical staff can use the operation During the operation training process of the simulated eyeball 11 by the instrument 3, the simulated eyeball 11 can rotate under force, effectively simulating the rotation of the eyeball under force during ophthalmic surgery, and simplifying the way for trainers to obtain surgical experience.

Secondly, the material of the simulated eyeball 11 is close to that of the real eyeball, which can bring a more realistic feel and is very close to the real ophthalmic surgery, so that the trainer can obtain better experience.

Finally, the ophthalmic puncture operation training system 100 has a small structure and can be used repeatedly, so it has a good application prospect.

The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (9)

1. a kind of ophthalmology puncturing operation training system (100), which is characterized in that the ophthalmology puncturing operation training system (100) Including Surgery Platform (1) and surgical instrument (3)；

The Surgery Platform (1) includes simulated eyeballs (11), the first torque sensor (14), upper mounting plate (16), telescopic branched chain (17), constrained branched chain (18) and lower platform (20), the simulated eyeballs (11) are mounted on first torque sensor (14), First torque sensor (14) is mounted on the upper mounting plate (16), and the upper mounting plate (16) passes through the telescopic branched chain (17) it is supported on the lower platform (20) with the constrained branched chain (18), the telescopic branched chain (17) and the upper mounting plate (16) Between, between the telescopic branched chain (17) and the lower platform (20) and the constrained branched chain (18) and the upper mounting plate (16) Between by flexural pivot (19) connect, between the constrained branched chain (18) and the lower platform (20) use be fixedly connected；

For the surgical instrument (3) for being operated to the simulated eyeballs (11), the surgical instrument (3) includes second Torque sensor (32)；It is described to stretch according to the force signal of the first torque sensor (14) and second torque sensor (32) Contracting branch (17) makes corresponding stretching motion；

The quantity of the telescopic branched chain (17) is 3, and 3 telescopic branched chains (17) are evenly spaced to be connected to the upper mounting plate (16) fringe region, the constrained branched chain (18) are connected to the center of the upper mounting plate (16).

2. ophthalmology puncturing operation training system (100) according to claim 1, which is characterized in that the telescopic branched chain (17) include push rod (171), loop bar, motor (174), screw rod (176) and positioning pin (178), wherein the motor (174) and The screw rod (176) is located at the inside of the loop bar；

The top of the push rod (171) is connect with the upper mounting plate (16), and the loop bar is inserted into the bottom end of the push rod (171) Inside, the loop bar are connect with the lower platform (20), and the bottom end of the push rod (171) is offered matches with the screw rod (176) The threaded hole of conjunction, the screw rod (176) are connected on the output shaft of the motor (174), and the positioning pin (178) is for limiting The push rod (171) rotates relative to the loop bar.

3. ophthalmology puncturing operation training system (100) according to claim 2, which is characterized in that the push rod (171) It is offered on outer peripheral surface strip-shaped hole (1711), the strip-shaped hole (1711) extends along the length direction of the push rod (171), described Positioning pin (178) is fixedly mounted on the loop bar and is inserted into the strip-shaped hole (1711)；Alternatively, being offered on the loop bar Strip-shaped hole (1711), the strip-shaped hole (1711) extend along the length direction of the loop bar, and the positioning pin (178) is fixedly mounted On the push rod (171) and it is inserted into the strip-shaped hole (1711).

4. ophthalmology puncturing operation training system (100) according to claim 2, feature 15 are that the loop bar includes The inside of the mobile jib (172), the mobile jib (172) are inserted into mobile jib (172) and bottom bar (173), the bottom end of the push rod (171) It is connected to the top of the bottom bar (173), the bottom end of the bottom bar (173) is connect with the lower platform (20), the motor (174) it is mounted on the inside of the bottom bar (173), the screw rod (176) is located at the inside of the mobile jib (172).

5. ophthalmology puncturing operation training system (100) according to claim 2, which is characterized in that the telescopic branched chain It (17) further include bearing (177), the inner ring of the bearing (177) and the screw rod (176) cooperate, outside the bearing (177) The inner surface of circle and the loop bar cooperates.

6. ophthalmology puncturing operation training system (100) according to claim 1, which is characterized in that the ophthalmology punctures hand Art training system (100) further includes emulation eye socket (12), upper junction plate (13) and lower connecting plate (15), the simulated eyeballs (11) It is mounted in the emulation eye socket (12), the emulation eye socket (12) is mounted on the upper junction plate (13), the upper connection Plate (13) is mounted on first torque sensor (14), and first torque sensor (14) is mounted on the lower connecting plate (15) on, the lower connecting plate (15) is mounted on the upper mounting plate (16).

7. ophthalmology puncturing operation training system (100) according to claim 1, which is characterized in that the surgical instrument (3) Further include puncture portion (33) and hand-held part (31), second torque sensor (32) be mounted on the puncture portion (33) with it is described Between hand-held part (31).

8. ophthalmology puncturing operation training system (100) according to claim 1, which is characterized in that first torque passes Sensor (14) is sextuple torque sensor.

9. a kind of ophthalmology puncturing operation training system (100), which is characterized in that the ophthalmology puncturing operation training system (100) Including Surgery Platform (1) and surgical instrument (3)；

The Surgery Platform (1) includes simulated eyeballs (11), is used to support the simulated eyeballs (11) parallel institution is mounted on The first torque sensor (14) and upper mounting plate (16) between the simulated eyeballs (11) and the parallel institution, first power Square sensor (14) is mounted on the upper mounting plate (16), and the upper mounting plate (16) connect with the parallel institution, the parallel connection Mechanism includes constrained branched chain (18) He Duogen telescopic branched chain (17)；The surgical instrument (3) is used for the simulated eyeballs (11) It is operated, the surgical instrument (3) includes the second torque sensor (32)；According to the first torque sensor (14) and institute The force signal of the second torque sensor (32) is stated, the telescopic branched chain (17) makes corresponding stretching motion；

The quantity of the telescopic branched chain (17) is 3, and 3 telescopic branched chains (17) are evenly spaced to be connected to the upper mounting plate (16) fringe region, the constrained branched chain (18) are connected to the center of the upper mounting plate (16).