Impactor mechanism for virtual reality surgery simulation system and telesurgery
An impactor mechanism for virtual or telepresence surgery comprises a base. An impactor shaft has a first end and a second end, a handle portion being provided at the second end. A rotational joint(s) is between the first end of the impactor shaft and the base, the joint providing two or more rotational degrees of freedom to the impactor shaft. Sensors are in the impactor mechanism for measuring an orientation of the impactor shaft relative to the base, and for measuring at least an impact force on the impactor shaft, for use in virtual surgery.
1. An impactor mechanism for virtual or telepresence surgery comprising:
a base;
an impactor shaft having a first end and a second end, a handle portion being provided at the second end;
at least one rotational joint between the first end of the impactor shaft and the base, the joint providing at least two rotational degrees of freedom to the impactor shaft; and
sensors in the impactor mechanism for measuring an orientation of the impactor shaft relative to the base, and for measuring at least an impact force on the impactor shaft, for use in virtual or telepresence surgery.
2. The impactor mechanism according to claim 1 , wherein the at least one rotational joint is a spherical joint.
3. The impactor mechanism according to claim 2 , wherein the spherical joint is a rod end bearing, with a rod of the rod end bearing connected to the base.
4. The impactor mechanism according to claim 3 , wherein the rod of the rod end bearing is fixed to the base.
5. The impactor mechanism according to claim 3 , wherein the rod is generally horizontal.
6. The impactor mechanism according to claim 3 , wherein the rod end bearing has a threaded shaft portion, the impactor shaft being threadingly engaged to the threaded shaft portion.
7. The impactor mechanism according to claim 1 , further comprising a releasable connection between the impactor shaft and the at least one rotational joint.
8. The impactor mechanism according to claim 1 , wherein the base has a block connected to the at least one joint, a casing receiving the block, and at least one translational joint between the block and the casing providing at least one translational degree of freedom.
9. The impactor mechanism according to claim 8 , comprising two of the translational joint, the block displaceable in a horizontal plane.
10. The impactor mechanism according to claim 8 , comprising at least one shock absorption device opposing a force against movement in each said translation degree of freedom.
11. The impactor mechanism according to claim 10 , wherein the at least one shock absorption device is at least one coil spring.
12. The impactor mechanism according to claim 1 , further comprising a translational joint at the second end of the impactor shaft, the translational joint being connected to an impactor head at the second end.
13. The impactor mechanism according to claim 12 , wherein the shaft has a tubular portion, the translational joint being received in a cavity of the tubular portion.
14. The impactor mechanism according to claim 13 , wherein one of the sensors is at least one force sensor in the cavity.
15. The impactor mechanism according to claim 12 , wherein a direction of the translational joint is parallel to a longitudinal axis of the impactor shaft.
16. The impactor mechanism according to claim 12 , wherein the translational joint includes at least one hollow-lock set screw received in the cavity of the tubular portion, the translational joint having a rod slidingly engaged in the at least one hollow-lock set screw.
17. The impactor mechanism according to claim 16 , wherein the rod has at least one sleeve interfaced with the at least one hollow-lock set screw, the sleeve being on a threaded rod portion of the rod.
18. The impactor mechanism according to claim 1 , wherein axes of the at least two rotational degrees of freedom intersect each other.
19. The impactor mechanism according to claim 1 , wherein the sensors include at least one accelerometer on the impactor shaft.
20. The impactor mechanism according to claim 1 , wherein the sensors include at least one torque sensor.