CN104658393A - Evaluation system and method for training of laparoscopic surgery simulation - Google Patents

Abstract

An evaluation system for training of laparoscopic surgery simulation comprises a visual system, an acceleration sensor module and an evaluation system, wherein the visual system is used for acquiring three-dimensional coordinate data of equipment; the acceleration sensor module is used for acquiring the speed and the moving stability data of the equipment; the evaluation system is use for calculating and storing the data acquired by the visual system and the acceleration sensor module and exporting a training completion condition report.

Description

Laparoscope Operation training evaluation system and method

Technical field

The present invention relates to laparoscope Operation training evaluation system and method.

Background technology

Micro trauma or hurtless measure are people to the endless pursuit of operation, and it experienced by the development course opening the large trauma operation of abdomen minimally invasive surgery by now from traditional form, nowadays again towards the less single-hole laparoscopic surgery future development of wound.Single-hole laparoscopic surgery, because its wound is extremely small, complication probability is low, bed occupancy is high, can not leave the features such as larger scar, becomes the developing direction of current medical science and technology forefront.

The feature that laparoscopic surgery is different from traditional operation has: the 1. space sense of two dimension; 2. skillfully laparoscopic instrument is grasped; 3. the recognition capability of laparoscopic dissection; 4. the harmony of both hands.Its technical difficulty is large as can be seen here, and learning curve is long, and the cultivation of training method and conventional surgical doctor is also different.Research finds, the training effect of laparoscope surgical, surgical experience and Complications in laparoscopic gynecologic surgery have close relationship.For beginner, skills involved in the labour and experience can be described as deciding factor, be in the patient of learning curve different times, the scope (standard) selecting indication should be discrepant, how effectively avoiding iatrogenic injury, improving success rate of operation is the important topic that current laparoscopic surgery faces.Laparoscope doctor through strict training, after simulator training or computer simulation training, just need can carry out human body operation under experienced laparoscope doctor instructs abroad.And at present at home, beginner normally by carrying out laparoscopic surgery after video-see under experienced higher level doctor instructs.So it is how to train laparoscope doctor that laparoscopic surgery develops the Tough questions faced.Domestic laparoscopic surgery doctor training patterns mainly contains short-term training, autonomous training, expert's guidance and further study, and training content comprises theory and gives lessons and skill training two aspects.When gynecological laparoscopy is trained, also take the formula training of three people groups, temper the technical ability such as the cooperation of trick pin, stereoscopic localized of cooperation ability and individual.But training effect how, but cannot learn.At home, how to carry out assessment to the effect of undergoing training of trainee and there is no unified standard, relevant report is also less.

Traditional Laparoscopy Training Exercise Using Simulator device is primarily of monitor, training box, camera, lighting device composition.In training process, trainer by monitor (i.e. display) can Real Time Observation to the tasks make progress of apparatus in training box, be a kind of common laparoscopic surgery training set.Current simulated training system supports multiple training mode, can the three dimensions perception of enhancement training person, two hands coordination ability, sew up the accurate operation abilities such as knotting.Complete three-dimensional simulated training by observation two dimensional monitors and be usually used in beginner's training, utilize laparoscopic surgery training box, simulation human abdominal cavity, training beginner hand eye coordination ability, three dimensions perception.Laparoscopy Training Exercise Using Simulator task mainly comprises following content:

1. hand eye coordination training

Mainly for the hand eye coordination ability of enhancement training person.In training box, put into the task scraps of paper being decorated with two size same area, wherein place by the small bulk body of different colours in one piece of region, another one is then empty, and trainer is required the gripping move to another one region one by one of thing block.Operating process should be accomplished fast, steady, accurate as far as possible, does not encounter the object of surrounding.Trainer can adjust camera lens at any time, and thing block is remained in surgical field of view all the time clearly.

2. directional adaptation training

Mainly for the three dimensions perception of enhancement training person.In training box, put into the task board that pillar is housed, have the hole be of moderate size above pillar, trainer is required that operating apparatus gripping suture line completes operation of threading a needle.By repeatedly repetition training, the laparoscopic procedure capacity of orientation of trainer can be improved.

3. tissue is separated training

Mainly for the both hands mating capability of enhancement training person.In training box, put the object of simulated skin or rubber and so on, carry out separation training by operating theater instruments such as laparoscope grasping forceps, scissors, electric knifes.

4. accurately training is located

Mainly for the precise manipulation ability of enhancement training person.Compared to traditional operation apparatus, laparoscopic surgical instruments length is comparatively large, not easily realizes accurately location in first actuation process.The training plate being provided with pillar is put in training box, these duckpin end faces have the pit be of moderate size, training board side is placed by plastics pillar, and trainer is required that pillar is placed in pit by operating apparatus, will keep the quick and accurate of action in whole training process.

5. knotting training is sewed up

Mainly for the stitching knotting operation ability of enhancement training person.In laparoscopic surgery practical operation due to narrow space, have higher requirement to the two hands coordination mating capability of operator, knotting and stitching need more training.In training box, put into the training board being provided with simulation skin, above simulation skin, be decorated with otch and stitch points.Trainer is required to complete stitching and knotting task according to stitch points position.Repeat, can improve and sew up knotting operation ability.

But legacy system Shortcomings in measuring accuracy, assessment accuracy.Laparoscope Operation training evaluation system provided by the invention and method, can provide high-precision measurement to Operation training and evaluate accurately, training for promotion effect.

Summary of the invention

In order to overcome the problems referred to above, the invention provides a kind of laparoscopic surgery evaluation of training system and method, providing objective parameter index and objective evaluation is carried out to surgical skills in training process.

For realizing the object of the present invention, be achieved by the following technical solutions:

A kind of laparoscope Operation training evaluation system, comprises vision system, acceleration sensor module and evaluating system,

Wherein:

Vision system is for obtaining apparatus three-dimensional coordinate data;

Acceleration sensor module is for obtaining speed and the stable movement degrees of data of apparatus;

Evaluating system calculates the data obtained measured by vision system and acceleration sensor module and data are preserved, and derives the report of training performance.

Laparoscope Operation training evaluation system as above, wherein:

The tracking point fixture of vision system is hexagonal module, ensures that in task process, tracking point can be as much as possible collected.

Laparoscope Operation training evaluation system as above, wherein:

The signal exported in acceleration sensor module, through Kalman filtering algorithm, time-domain filtering is carried out to output data, improve data precision, and adopt Euler algorithm to pass through the pose of real-time calculating sensor, eliminate the intrinsic component of acceleration of gravity on each axle, thus eliminate its interference.

Laparoscope Operation training evaluation system as above,

Evaluating system comprises running time module, path length modules, average velocity module, motion smoothing module and idleness module; Wherein:

Running time module: by the T.T. of following formula calaculating apparatus operating process, no matter whether task completes:

$P1=\underset{0}{\overset{T}{\∫}}\mathrm{dt}$

The wherein t representation unit time; T be each surgical simulation action from T.T. of completing to action;

Path length modules: the total length by the most advanced and sophisticated movement in whole operating process of following formula calaculating apparatus:

$P2=\underset{0}{\overset{T}{\∫}}\sqrt{{\left(\frac{\mathrm{dx}}{\mathrm{dt}}\right)}^2+{\left(\frac{\mathrm{dy}}{\mathrm{dt}}\right)}^2+{\left(\frac{\mathrm{dz}}{\mathrm{dt}}\right)}^2}\mathrm{dt}$

Wherein x, y, z represents tracking point that vision system the collects displacement increment along three axles respectively;

Average velocity module: by the most advanced and sophisticated average velocity in operation of following formula calaculating apparatus:

$P3=\frac{\underset{0}{\overset{T}{\∫}}\sqrt{{\left(\frac{{\mathrm{da}}_x}{\mathrm{dt}}\right)}^2+{\left(\frac{{\mathrm{da}}_y}{\mathrm{dt}}\right)}^2+{\left(\frac{{\mathrm{da}}_z}{\mathrm{dt}}\right)}^2}\mathrm{dt}}{T}$

Wherein a _x, a _y, a _zrepresent the accekeration of the apparatus that records of acceleration sensor module along sensor three sensitive axes respectively;

Motion smoothing module: calculate the rate of change of acceleration to describe the consistent level of operating process apparatus work by following formula:

$P4=\frac{\sqrt{{\left(\frac{{\mathrm{da}}_x}{\mathrm{dt}}\right)}^2+{\left(\frac{{\mathrm{da}}_y}{\mathrm{dt}}\right)}^2+{\left(\frac{{\mathrm{da}}_z}{\mathrm{dt}}\right)}^2}}{\mathrm{dt}}$

Idleness module: by apparatus dwell and the ratio of running time in following formula calculation task process:

$P5=\frac{T_f}{T}$

Wherein T _frepresent that apparatus increment of motion is less than the time of 5mm.

Laparoscope Operation training evaluation system as claimed in claim 1, wherein evaluating system is used for calculating operation time, right-hand man's movable length, right-hand man's average velocity, right-hand man's idleness and right-hand man's smoothness and shows.

A kind of laparoscope Operation training evaluation method, comprising:

Vision system obtains apparatus three-dimensional coordinate data;

Acceleration sensor module obtains speed and the stable movement degrees of data of apparatus;

Evaluating system calculates the data obtained measured by vision system and acceleration sensor module and data are preserved, and derives the report of training performance.

Laparoscope Operation training evaluation method as above, wherein:

The tracking point fixture of vision system is hexagonal module, ensures that in task process, tracking point can be as much as possible collected.

Laparoscope Operation training evaluation method as above, wherein:

The signal exported in acceleration sensor module, through Kalman filtering algorithm, time-domain filtering is carried out to output data, improve data precision, and adopt Euler algorithm to pass through the pose of real-time calculating sensor, eliminate the intrinsic component of acceleration of gravity on each axle, thus eliminate its interference.

Laparoscope Operation training evaluation method as above,

Evaluating system comprises running time module, path length modules, average velocity module, motion smoothing module and idleness module; Wherein:

Running time module passes through the T.T. of following formula calaculating apparatus operating process, no matter whether task completes:

$P1=\underset{0}{\overset{T}{\∫}}\mathrm{dt}$

The wherein t representation unit time; T be each surgical simulation action from T.T. of completing to action;

Path length modules is by the total length of the most advanced and sophisticated movement in whole operating process of following formula calaculating apparatus:

$P2=\underset{0}{\overset{T}{\∫}}\sqrt{{\left(\frac{\mathrm{dx}}{\mathrm{dt}}\right)}^2+{\left(\frac{\mathrm{dy}}{\mathrm{dt}}\right)}^2+{\left(\frac{\mathrm{dz}}{\mathrm{dt}}\right)}^2}\mathrm{dt}$

Wherein x, y, z represents Marker point that vision system the collects displacement increment along three axles respectively;

Average velocity module is by the most advanced and sophisticated average velocity in operation of following formula calaculating apparatus:

$P3=\frac{\underset{0}{\overset{T}{\∫}}\sqrt{{\left(\frac{{\mathrm{da}}_x}{\mathrm{dt}}\right)}^2+{\left(\frac{{\mathrm{da}}_y}{\mathrm{dt}}\right)}^2+{\left(\frac{{\mathrm{da}}_z}{\mathrm{dt}}\right)}^2}\mathrm{dt}}{T}$

Wherein a _x, a _y, a _zrepresent apparatus that MEMS acceleration sensor module the records accekeration along sensor three sensitive axes respectively;

Motion smoothing module calculates the rate of change of acceleration to describe the consistent level of operating process apparatus work by following formula:

$P4=\frac{\sqrt{{\left(\frac{{\mathrm{da}}_x}{\mathrm{dt}}\right)}^2+{\left(\frac{{\mathrm{da}}_y}{\mathrm{dt}}\right)}^2+{\left(\frac{{\mathrm{da}}_z}{\mathrm{dt}}\right)}^2}}{\mathrm{dt}}$

Idleness module is by apparatus dwell and the ratio of running time in following formula calculation task process:

$P5=\frac{T_f}{T}$

Wherein T _frepresent that apparatus increment of motion is less than the time of 5mm.

Laparoscope Operation training evaluation method as above, wherein evaluating system calculating operation time, right-hand man's movable length, right-hand man's average velocity, right-hand man's idleness and right-hand man's smoothness show.

Accompanying drawing explanation

Fig. 1 is the schematic diagram of laparoscopic surgery evaluation of training system of the present invention;

Fig. 2 is system schematic diagram;

Fig. 3 is that plate figure followed the trail of by marker hexagon;

Fig. 4 is MEMS module realization flow figure.

Embodiment

As shown in Figure 1, laparoscope Operation training evaluation system of the present invention comprises vision system 1, acceleration sensor module 3, evaluating system 2.

Accompanying drawing 2 is present system design diagram, and wherein vision system 1 of the present invention can adopt but be not limited to Micron Tracker binocular vision system, and this system is for obtaining apparatus three-dimensional coordinate data.

Marker (tracking) puts jig Design: it is 200cm*240cm that Micron Tracker binocular vision system measures maximum measurement range, border is approximately the shape of a square-section, a Maker point will throw next Minimum Area in the left and right sides of camera, effectively identify in order to Micron Tracker can be made, the present invention expands camera FOM (the camera lens visual field), the requirement of such measurement range coincidence measurement by reducing projection size.But can cause like this and detect degree of accuracy reduction, the pixel count detecting Marker point position can reduce; The angle of plane and binocular vision instrument place plane is more than 60 ° residing for the Marker point (tracking point) 4 in addition, and this tracking point can not be detected by Tracker binocular vision system and track.So the tracking template of the present invention's design is hexagonal module (as shown in Figure 3), can being arranged in operating theater instruments, when carrying out Operation training, ensureing that in task process, Marker can be as much as possible collected.

Acceleration sensor module 3 of the present invention can use but be not limited to MEMS acceleration transducer, and its data obtained obtain speed and the stable movement degree index of apparatus respectively through integration and differentiation.

MEMS acceleration sensor module design (as shown in Figure 4): design in the present invention and made MEMS acceleration transducer measurement module, in order to eliminate the zero point drift impact of MEMS sensor, present invention uses two sensor assemblies to carry out data acquisition, these two module XY axle vertical distribution, get the mean value of two sensor acceleration and gyro data to improve data accuracy; Due in measuring process, sensing data is easily subject to the impact of environmental change, has a large amount of noises and enters sensor output data, and the frequency of noise and kinematic parameter frequency alias.The present invention adopts Kalman filtering algorithm to carry out time-domain filtering to output data, improves data precision, and adopts Euler algorithm to pass through the pose of real-time calculating sensor, eliminate the component of intrinsic acceleration of gravity on each axle, thus eliminates its impact; Each axial acceleration data that module obtains after using f l ash real-time storage to process after filtering, transfer data to PC end by serial communication and preserve with txt text formatting; In this module, the sampling rate of acceleration and gyro sensor is 100Hz, can reach the measurement requirement to training medium velocity.

Evaluating system 2 of the present invention completes the raw data that obtains measured by vision system and acceleration sensor module and preserves to the calculating of index and data, and derives the report of training performance.

Evaluating system 2: evaluating system of the present invention comprises running time module, path length modules, average velocity module, motion smoothing module and idleness module.Evaluating system can be the forms such as server, hardware, firmware, software module.Evaluating system software platform system can be write by LabVIEW.Wherein the implementation procedure of modules is as described below.

1 running time module: the T.T. (no matter whether task completes) describing apparatus operating process in seconds.

$P1=\underset{0}{\overset{T}{\∫}}\mathrm{dt}$

The wherein t representation unit time; T be each surgical simulation action from T.T. of completing to action, T can from binocular vision system initial time and obtaining in the end time.

2 path length modules: by centimetre in units of the total length (left hand and right hand) of instrument tip movement in whole operating process is described:

$P2=\underset{0}{\overset{T}{\∫}}\sqrt{{\left(\frac{\mathrm{dx}}{\mathrm{dt}}\right)}^2+{\left(\frac{\mathrm{dy}}{\mathrm{dt}}\right)}^2+{\left(\frac{\mathrm{dz}}{\mathrm{dt}}\right)}^2}\mathrm{dt}$

Wherein x, y, z represents Marker point that Micron Tracker binocular vision tracing system the collects displacement increment along three axles respectively.

3 average velocity modules: describe instrument tip average velocity in operation in units of centimeters per second.

$P3=\frac{\underset{0}{\overset{T}{\∫}}\sqrt{{\left(\frac{{\mathrm{da}}_x}{\mathrm{dt}}\right)}^2+{\left(\frac{{\mathrm{da}}_y}{\mathrm{dt}}\right)}^2+{\left(\frac{{\mathrm{da}}_z}{\mathrm{dt}}\right)}^2}\mathrm{dt}}{T}$

Wherein a _x, a _y, a _zrepresent apparatus that MEMS acceleration sensor module the records accekeration along sensor three sensitive axes respectively.

4 motion smoothing modules: the rate of change calculating acceleration, in order to describe the consistent level of operating process apparatus work.

$P4=\frac{\sqrt{{\left(\frac{{\mathrm{da}}_x}{\mathrm{dt}}\right)}^2+{\left(\frac{{\mathrm{da}}_y}{\mathrm{dt}}\right)}^2+{\left(\frac{{\mathrm{da}}_z}{\mathrm{dt}}\right)}^2}}{\mathrm{dt}}$

5 idleness modules: the ratio of apparatus dwell and running time in calculation task process.

$P5=\frac{T_f}{T}$

Wherein T _frepresent that apparatus increment of motion is less than the time of 5mm.

Evaluating system 2 of the present invention, by the Tracker image data of importing and inertia measuring module image data, processes data, calculates each index above-mentioned and show.On the left of interface, the data that Micron Tracker binocular vision tracing system and the measurement of MEMS acceleration sensor module obtain are imported during use, working procedure can obtain the result of parameters, as running time, right-hand man's movable length, right-hand man's average velocity, right-hand man's idleness and right-hand man's smoothness etc., by relatively can make an appraisal to training effect to parameters result, as completed same task, the running time is shorter, right-hand man's movable length is shorter, idleness is lower etc. then more consummate.

Laparoscope Operation training evaluation system of the present invention provides abundant interface, be connected with the device such as monitor, training box, camera, lighting device of conventional exercises system by corresponding module in the application, the use procedure of apparatus when measuring sham operated in training box by Micron Tracker binocular vision tracing system and MEMS acceleration sensor module; Thering is provided control to said apparatus by evaluation and test module, shooting with video-corder sham operated process in training box as controlled camera, and the real-time process of display simulation operative training on a monitor, regulate the switch, light and shade, light angle etc. of lighting device; Thus the object that realization is assessed laparoscope Operation training.By present invention achieves based on MEMS acceleration sensor module and binocular vision tracing system with the use of, improve measuring accuracy; Expand measurement space scope; Realize database purchase and the management of trainer's training data.

Claims (10)

1. a laparoscope Operation training evaluation system, comprises vision system, acceleration sensor module and evaluating system,

Wherein:

Vision system is for obtaining apparatus three-dimensional coordinate data;

Acceleration sensor module is for obtaining speed and the stable movement degrees of data of apparatus;

Evaluating system calculates the data obtained measured by vision system and acceleration sensor module and data are preserved, and derives the report of training performance.

2. laparoscope Operation training evaluation system as claimed in claim 1, wherein:

The tracking point fixture of vision system is hexagonal module, ensures that in task process, tracking point can be as much as possible collected.

3. laparoscope Operation training evaluation system as claimed in claim 1, wherein:

The signal exported in acceleration sensor module, through Kalman filtering algorithm, time-domain filtering is carried out to output data, improve data precision, and adopt Euler algorithm to pass through the pose of real-time calculating sensor, eliminate the intrinsic component of acceleration of gravity on each axle, thus eliminate its interference.

4. laparoscope Operation training evaluation system as claimed in claim 1,

Evaluating system comprises running time module, path length modules, average velocity module, motion smoothing module and idleness module; Wherein:

Running time module: by the T.T. of following formula calaculating apparatus operating process, no matter whether task completes:

$P1=\underset{0}{\overset{T}{\∫}}\mathrm{dt}$

The wherein t representation unit time; T be each surgical simulation action from T.T. of completing to action;

Path length modules: the total length by the most advanced and sophisticated movement in whole operating process of following formula calaculating apparatus:

$P2=\underset{0}{\overset{T}{\∫}}\sqrt{{\left(\frac{\mathrm{dx}}{\mathrm{dt}}\right)}^2+{\left(\frac{\mathrm{dy}}{\mathrm{dt}}\right)}^2+{\left(\frac{\mathrm{dz}}{\mathrm{dt}}\right)}^2}\mathrm{dt}$

Wherein x, y, z represents tracking point that vision system the collects displacement increment along three axles respectively;

Average velocity module: by the most advanced and sophisticated average velocity in operation of following formula calaculating apparatus:

$P3=\frac{\underset{0}{\overset{T}{\∫}}\sqrt{{\left(\frac{{\mathrm{da}}_x}{\mathrm{dt}}\right)}^2+{\left(\frac{{\mathrm{da}}_y}{\mathrm{dt}}\right)}^2+{\left(\frac{{\mathrm{da}}_z}{\mathrm{dt}}\right)}^2}\mathrm{dt}}{T}$

Wherein a _x, a _y, a _zrepresent the accekeration of the apparatus that records of acceleration sensor module along sensor three sensitive axes respectively;

Motion smoothing module: calculate the rate of change of acceleration to describe the consistent level of operating process apparatus work by following formula:

$P4=\frac{\sqrt{{\left(\frac{{\mathrm{da}}_x}{\mathrm{dt}}\right)}^2+{\left(\frac{{\mathrm{da}}_y}{\mathrm{dt}}\right)}^2+{\left(\frac{{\mathrm{da}}_z}{\mathrm{dt}}\right)}^2}}{\mathrm{dt}}$

Idleness module: by apparatus dwell and the ratio of running time in following formula calculation task process:

$P5=\frac{T_f}{T}$

Wherein T _frepresent that apparatus increment of motion is less than the time of 5mm.

5. laparoscope Operation training evaluation system as claimed in claim 1, wherein evaluating system is used for calculating operation time, right-hand man's movable length, right-hand man's average velocity, right-hand man's idleness and right-hand man's smoothness and shows.

6. a laparoscope Operation training evaluation method, comprising:

Vision system obtains apparatus three-dimensional coordinate data;

Acceleration sensor module obtains speed and the stable movement degrees of data of apparatus;

Evaluating system calculates the data obtained measured by vision system and acceleration sensor module and data are preserved, and derives the report of training performance.

7. laparoscope Operation training evaluation method as claimed in claim 6, wherein:

The tracking point fixture of vision system is hexagonal module, ensures that in task process, tracking point can be as much as possible collected.

8. laparoscope Operation training evaluation method as claimed in claim 6, wherein:

The signal exported in acceleration sensor module, through Kalman filtering algorithm, time-domain filtering is carried out to output data, improve data precision, and adopt Euler algorithm to pass through the pose of real-time calculating sensor, eliminate the intrinsic component of acceleration of gravity on each axle, thus eliminate its interference.

9. laparoscope Operation training evaluation method as claimed in claim 6,

Evaluating system comprises running time module, path length modules, average velocity module, motion smoothing module and idleness module; Wherein:

Running time module passes through the T.T. of following formula calaculating apparatus operating process, no matter whether task completes:

$P1=\underset{0}{\overset{T}{\∫}}\mathrm{dt}$

The wherein t representation unit time; T be each surgical simulation action from T.T. of completing to action;

Path length modules is by the total length of the most advanced and sophisticated movement in whole operating process of following formula calaculating apparatus:

$P2=\underset{0}{\overset{T}{\∫}}\sqrt{{\left(\frac{\mathrm{dx}}{\mathrm{dt}}\right)}^2+{\left(\frac{\mathrm{dy}}{\mathrm{dt}}\right)}^2+{\left(\frac{\mathrm{dz}}{\mathrm{dt}}\right)}^2}\mathrm{dt}$

Wherein x, y, z represents Marker point that vision system the collects displacement increment along three axles respectively;

Average velocity module is by the most advanced and sophisticated average velocity in operation of following formula calaculating apparatus:

$P3=\frac{\underset{0}{\overset{T}{\∫}}\sqrt{{\left(\frac{{\mathrm{da}}_x}{\mathrm{dt}}\right)}^2+{\left(\frac{{\mathrm{da}}_y}{\mathrm{dt}}\right)}^2+{\left(\frac{{\mathrm{da}}_z}{\mathrm{dt}}\right)}^2}\mathrm{dt}}{T}$

Wherein a _x, a _y, a _zrepresent apparatus that MEMS acceleration sensor module the records accekeration along sensor three sensitive axes respectively;

Motion smoothing module calculates the rate of change of acceleration to describe the consistent level of operating process apparatus work by following formula:

$P4=\frac{\sqrt{{\left(\frac{{\mathrm{da}}_x}{\mathrm{dt}}\right)}^2+{\left(\frac{{\mathrm{da}}_y}{\mathrm{dt}}\right)}^2+{\left(\frac{{\mathrm{da}}_z}{\mathrm{dt}}\right)}^2}}{\mathrm{dt}}$

Idleness module is by apparatus dwell and the ratio of running time in following formula calculation task process:

$P5=\frac{T_f}{T}$

Wherein T _frepresent that apparatus increment of motion is less than the time of 5mm.

10. laparoscope Operation training evaluation method as claimed in claim 6, wherein evaluating system calculating operation time, right-hand man's movable length, right-hand man's average velocity, right-hand man's idleness and right-hand man's smoothness show.