CN105825752A - Force feedback device-based virtual corneal surgery training system - Google Patents
Force feedback device-based virtual corneal surgery training system Download PDFInfo
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Abstract
The invention discloses a force feedback device-based virtual corneal surgery training system. The force feedback device-based virtual corneal surgery training system includes a force feedback device, a computer and a computer embedded training system; the training system includes an eye ball model building module, a surgical tool building module, a virtual environment module, a collision force feedback module, an expert data storage module, a force comparison module and a database. With the force feedback device-based virtual corneal surgery training system of the invention adopted, an operator can learn to execute a corneal transplant surgery process, namely perform a virtual corneal transplant surgery process alone; the computer records the force sense information of each operation of the learner, the force sense information is compared with a standard force in the corresponding operation, based on weight assignment and quantitative evaluation, each step of the performer is scored, and a comprehensive score can be obtained; and the force sense information of operations of experienced doctors in a corneal transplant surgery process is recorded in advance, and the learner can play the recorded information to sense the magnitude of forces should be applied in each operation so as to achieve a purpose of learning.
Description
Technical field
The invention belongs to field of human-computer interaction field, it is specifically related to a kind of virtual cornea surgery training system based on force feedback equipment, by force feedback equipment realize with virtual surgical environment mutual, to realize improving the purpose of doctor's corneal graft technical ability in the case of operating difficulty is big and donor's cornea is limited, it is simultaneously available for verifying new modus operandi and test surgical instrument.
Background technology
Virtual operation technology is one of focus of Recent study, refer to utilize virtual reality technology, according to medical image data, set up virtual environment in a computer, user is by using human-computer interaction device mutual, to reach the purpose of operative training or training with virtual surgical environment.Meanwhile, the operation of skilled doctor can also be recorded and play back by system of virtual operation, has saved expense and the time of medical matters training.
Force feedback technique plays vital effect in virtual operation, and it makes doctor pass through steering force feedback device, carries out dynamic sensing interexchanging with virtual environment, makes surgery training process more true, reliable, enhances feeling of immersion and the verity of virtual operation.
Corneal graft refers to use the cornea of the muddy lesion portion of corneal film displacement of allosome, to reach to treat the purpose of some keratopathy.Domestic at present can the doctor of complete independently corneal graft less than 100 people, but whole nation corneal blindness patient but has 4,000,000 more than, and annual also have newly-increased patient 100,000, and the training to the corneal transplantation technology of doctor is extremely urgent.
Current operation on cornea training uses the mode that theory study and clinical practice combine.Clinical operation uses artificial anterior chamber combine porcine cornea simulation eye cornea model, under high definition operating microscope, synchronize teaching training.But, the training cost of every doctor is all more than ten thousand yuan, and this also becomes keeping in check of extensive training operation on cornea doctor.
Based on above present situation, it is necessary to propose a kind of corneal transplantation sham operated system to solve the problems referred to above.
Once someone did the work in terms of biomembrane (for cornea) modeling, it is proposed that a kind of membrane tissue deformation simulation based on mass-spring modeling models.But prior art there is problems in that prior art only proposes and uses the interface fed back as sense of touch using the PHANTONDesktop desktop force feedback equipment of Sensable company of the U.S., goes to verify that the mathematical model oneself set up is the most effective.But the most strong feeling of immersion, does not suggests that the most feasible operation interaction schemes, is intended merely to test model.Prior art have ignored actual demand, does not accounts for the actual application of this model so that model can not reflect the state of eyeball phantom really, it is impossible to is extensively applied, and lacks social need.Existing general image check is only provided that two-dimensional image, it is impossible to providing three-dimensional picture, verity is relatively low.
Summary of the invention
It is an object of the invention to provide a kind of virtual cornea surgery training system based on force feedback equipment, for fine cornea transplantation operation, generate virtual environment on computers, sham operated apparatus is utilized to be simulated operation, make ophthalmologist utilize this system to train in a large number, accumulate experience, expense and the time of medical matters training can be greatly saved；On the other hand, the present invention uses force feedback technique, makes user carry out dynamic sensing interexchanging by force feedback equipment and virtual surgical environment, user can be allowed fully to experience sham operated apparatus and contact produced feedback force with organ；Meanwhile, user carries out visual interactive also by computer and virtual environment, more enhances feeling of immersion and the verity of virtual operation, is suitable for research and the training of corneal graft.
It is an object of the invention to be realized by below scheme:
A kind of virtual cornea surgery training system based on force feedback equipment, including the training system that force feedback equipment and the computer of force feedback equipment data cube computation, computer are embedded；
The information of force feedback equipment acquisition operations person's dynamics, and the size of power can be fed back to operator；
Described training system includes:
Eyeball phantom sets up module: sets up triangular-plate net model simulated eye spherical model and cornea by OpenGL, and after each action, coordinate is carried out mapping again；
Operation tool sets up module: set up the geometric model of sham operated apparatus with Unigraphics simulation software, selects for operator；
Virtual environment module: model and operation tool that eyeball phantom is set up module foundation respectively set up the sham operated apparatus model generation coordinate mapping that module is set up, and generate virtual environment and also show in real time on a computer display；
Impact force feedback module: the point that the dynamics information function collected by reception feedback device intersects in the virtual operation instrument model of virtual environment module and eyeball phantom, eyeball phantom stress deforms upon, and shows on the interface of display dynamically；, sending the dynamics information in virtual environment to force feedback equipment, the size of power is fed back to learner by force feedback equipment meanwhile, and learner judges current procedure state in which by image information and dynamics feedback, then carries out next step action；
Data base.
Further, described training system also includes expert data memory module: it is for the skilled action message of the veteran doctor that prestores in data base and accurate dynamics information.The veteran doctor of prior recording performs dynamics information during corneal graft, and learner, by playing these recorded informations, experiences the size of the power that should apply in each operates, to reach the destination of study.
Further, described training system also includes power comparison module: action message and the dynamics information of operator's practical operation are recorded by force feedback equipment, and accurately compare with the information prestored in data base, by weight assignment and work quantity evaluation, the each step showed is given a mark, finally draw comprehensive grading, thus the operation to learner proposes to evaluate and reasonably suggestion.
The invention have the advantages that
One, the interface that the present invention feeds back using the PHANTONDesktop desktop force feedback equipment of Sensable company of the U.S. as sense of touch, Unigraphics simulation software is utilized to set up the geometric model of sham operated apparatus, by programming, it is the triangular-plate net model that unity3D requires by VRML2.0 form model conversation.Relative to other kinds of geometric model, this triangular-plate net model can reflect the situation of eyeball phantom more really.
Two, user can select operating theater instruments to be simulated with force feedback equipment, real tactile experience is obtained by force feedback equipment, thus in virtual environment, experience the overall process that operation is carried out, a kind of emerging exercise and training method is provided for corneal graft, do not limited by time and space, reduce and practise and the cost of training, and be greatly promoted the experience of doctor, cultivate the ripe doctor in terms of operation on cornea.
Three, the thought that application " is recorded-play ", the power visual information in advance veteran doctor performing corneal graft is recorded, learner can play power visual information repeatedly, do not limited by time and space, save expense and the time of medical matters training, thus reached to improve rapidly the purpose of learner technical ability.
Four, data base is utilized, the dynamics information of each operation of user is recorded, proof force degrees of data in operating with this compares, by weight assignment and work quantity evaluation, each step performance to user is given a mark, finally draw comprehensive grading, allow user gain more insight into oneself ability and level, train targetedly.
Accompanying drawing explanation
Fig. 1 is the fundamental diagram of the present invention virtual cornea surgery training system based on force feedback equipment；
Fig. 2 is that the present invention uses flow chart；
Fig. 3 is the fundamental diagram of the power comparison module of the present invention；
Fig. 4 is the fundamental diagram of the expert data memory module of the present invention.
Detailed description of the invention
Technical scheme it is discussed in detail below in conjunction with accompanying drawing:
A kind of virtual cornea surgery training system based on force feedback equipment, including the training system that force feedback equipment and the computer of force feedback equipment data cube computation, computer are embedded.Force feedback equipment not only collects the information of learner dynamics, and the size of power can be fed back to operator；The deformation Dynamic Announce that virtual operating theater instruments and image are produced by the display of computer because of stress out, adds the operation (such as: reset system etc. operate) of mouse auxiliary training system.Training system carries out data transmission and processes operating with image procossing etc., and training system includes:
Eyeball phantom sets up module: sets up triangular-plate net model simulated eye spherical model and cornea by OpenGL, and after each action, coordinate is carried out mapping again.
Operation tool sets up module: set up the geometric model of sham operated apparatus with Unigraphics simulation software, selects for operator.
Virtual environment module: model and operation tool that eyeball phantom is set up module foundation respectively set up the sham operated apparatus model generation coordinate mapping that module is set up, and generate virtual environment and also show in real time on a computer display.
Impact force feedback module: the point that the dynamics information function collected by reception feedback device intersects in the virtual operation instrument model of virtual environment module and eyeball phantom, eyeball phantom stress deforms upon, and shows on the interface of display dynamically；, sending the dynamics information in virtual environment to force feedback equipment, the size of power is fed back to learner by force feedback equipment meanwhile, and learner judges current procedure state in which by image information and dynamics feedback, then carries out next step action.
Expert data memory module: it is for the skilled action message of veteran doctor and the accurate dynamics information of prestoring in data base.The veteran doctor of prior recording performs dynamics information during corneal graft, and learner, by playing these recorded informations, experiences the size of the power that should apply in each operates, to reach the destination of study.
Power comparison module: action message and the dynamics information of operator's practical operation are recorded by force feedback equipment, and accurately compare with the information prestored in data base, by weight assignment and work quantity evaluation, the each step showed is given a mark, finally draw comprehensive grading, thus the operation to learner proposes to evaluate and reasonably suggestion.
Data base: for storing the data message that each module is set up.
Described eyeball phantom sets up the function of module: gather the mathematical information of multiple pathological corneas, use the triangular-plate net model that outer surface utilizes unity3D to identify, the method that voxel of object is filled builds eyeball phantom, triangular-plate net model simulated eye spherical model and cornea is set up by OpenGL, the operation object performed the operation as virtual cornea, and after each action, coordinate is carried out mapping again.
Described operation tool sets up the function of module: utilize Unigraphics simulation software to set up the geometric model of sham operated apparatus, by utilizing the export function of Unigraphics that model is stored as VRML2.0 form；Finally program, be the triangular-plate net model that unity3D requires by the operating theater instruments model conversation of VRML2.0 form, select for operator.
Described impact force feedback module includes with lower unit:
1. collision detection unit: intersect with the triangular plate place plane of eyeball phantom when the coordinate that described sham operated apparatus is corresponding maps, i.e. sham operated apparatus and operated object collides.
2. force feedback unit: after colliding, according to resistance coefficient, the movement velocity of sham operated apparatus and the power of this point in the action time of this point, determines that force feedback equipment should feed back to the dynamics size of operator, and feeds back to operator；This power size is reacted on triangle model simultaneously, according to the flexible strategy on each triangular plate summit, calculate the size of the displacement that this triangular plate should occur, update triangular plate position.
(1) when eyeball phantom and sham operated apparatus collide, the size of the power of generation calculates process and is:
Regarding the operation object eyeball phantom of virtual operation as body spring, when a little colliding with sham operated apparatus on it, can be used as body spring and deform upon, contact point is subjected to displacement, and between eyeball phantom and sham operated apparatus, the size of power is calculated as:
Wherein: k' and k'dThe coefficient of elasticity of corresponding body spring and damped coefficient, occurrence can be obtained by experiment；
Δ x is the distance to go of body spring, determines the direction of power；
V is the movement velocity of movable end on body spring.
(2) after eyeball phantom and sham operated apparatus collide, force feedback equipment feeds back to the size calculating process of the power of operator and is:
F=-μ V-λ X
Wherein: μ and λ is viscosity and coefficient of elasticity；
When V and X is touching eyeball phantom, the speed of sham operated apparatus and depth of cut；
(3) when eyeball phantom and sham operated apparatus collide, the triangle model of composition eyeball phantom, the displacement computing formula occurred after by the effect of power is:
Wherein: Δ xi(t)Represent the displacement of each end points on triangular plate；
miIt it is the quality of triangular plate；
Δ t is the time that power acts on triangular plate；
V is the movement velocity of movable end on body spring.
The use embodiment of a kind of based on force feedback equipment the virtual cornea surgery training system that the present invention provides:
One, virtual cornea operation exercise
Store in data base the most in advance and set up, by eyeball phantom, eyeball phantom corresponding to multiple keratopathy situation that module sets up and set up, by operation tool, the sham operated apparatus that module is set up, different according to the pathological changes situation selected for operator, carry out different virtual operation exercises.
2. operator selects eyeball phantom and the virtual operation instrument needed by virtual environment module, and carries out virtual operation exercise by impact force feedback module:
(1) when force feedback equipment does not select the sham operated instrument determined, present the function identical with mouse, the hand lever fed back by locomotivity is moved the cursor to tools menu and wants the position (such as trepan) of the instrument selected, simulation trepan is selected by the confirming button on equipment, scope according to pathological corneas drills through suitable corneal transplant, as graft.Force feedback equipment button can be clicked on, select eyes are injected adhered elastomer.
(2) force feedback equipment selects analogue crystals positioning hook, hooks up and plants in the most default eyeball phantom of sheet cornea, injects adhered elastomer.
(3) force feedback equipment selects simulation needle holder, carries out sewing up operation, 12, fixes for 6,3,9, interrupted suture 16 pin, sews up the degree of depth and reach the 3/4 of corneal thickness.
(4) force feedback equipment selects simulation ligature forceps, the knotting operation after sewing up.
(5) force feedback equipment selects simulation needle holder, after stitching completes, syringe needle is stretched into anterior chamber, is injected simultaneously into normal saline or disinfecting air.
(6) force feedback equipment selects simulation blade drive rotaining device, removes 4 stitching thread, instills antibacterials.
(7) so far, virtual operation contact terminates.
Two, the virtual operation to operator is practised comparing scoring
(1) carry out expert data recording in advance by expert data memory module: by sensor record experienced doctor action message in motor process, utilize force feedback equipment to gather the veteran doctor power visual information in each action simultaneously.
(2) information processing is carried out: by the information recorded is analyzed, some parameters of motor skill can be obtained.
(3) deposit in data base: plus temporal information, three class data configurations are become one tuple of data base: time, power visual information, the various parameters of action message, be saved in data base, as standard information.
(4) operator carries out virtual operation exercise, equally with its action message of sensor record and power visual information, deposits among data base.
(5) by power comparison module, both the above information is compared, by weight assignment and the method for work quantity evaluation, calculate the score of each operation of practitioner and comprehensive score.Allow user gain more insight into oneself ability and level, train targetedly.
Three, operator utilizes this system to carry out expert's study
(1) recording process: by sensor record experienced doctor action message in motor process, utilizes force feedback equipment to gather the veteran doctor power visual information in each action simultaneously.
(2) information processing: be by the information recorded is analyzed, some parameters of motor skill can be obtained.Information processing is to process the signal recorded, it is ensured that the quality of broadcasting.
(3) plus temporal information, three class data configurations are become one tuple of data base: time, power visual information, the various parameters of action message, deposit in data base.
(4) playing process: pass through control algolithm so that force feedback equipment power output visual information and action message, learner is experienced action and power visual information by force feedback equipment, has been reached the destination of study.
(5) scope of the power that each operation of data-base recording should use, when operator performs operation, carries out weight assignment and work quantity evaluation, examines its every single stepping and comprehensive grading.
Claims (7)
1. a virtual cornea surgery training system based on force feedback equipment, it is characterised in that include the training system that force feedback equipment and the computer of force feedback equipment data cube computation, computer are embedded；
The information of force feedback equipment acquisition operations person's dynamics, and the size of power can be fed back to operator；
Described training system includes:
Eyeball phantom sets up module: sets up triangular-plate net model simulated eye spherical model and cornea by OpenGL, and after each action, coordinate is carried out mapping again；
Operation tool sets up module: set up the geometric model of sham operated apparatus with Unigraphics simulation software, selects for operator；
Virtual environment module: model and operation tool that eyeball phantom is set up module foundation respectively set up the sham operated apparatus model generation coordinate mapping that module is set up, and generate virtual environment and also show in real time on a computer display；
Impact force feedback module: the point that the dynamics information function collected by reception feedback device intersects in the virtual operation instrument model of virtual environment module and eyeball phantom, eyeball phantom stress deforms upon, and shows on the interface of display dynamically；, sending the dynamics information in virtual environment to force feedback equipment, the size of power is fed back to learner by force feedback equipment meanwhile, and learner judges current procedure state in which by image information and dynamics feedback, then carries out next step action；
Data base.
A kind of virtual cornea surgery training system based on force feedback equipment, it is characterised in that described training system also includes:
Expert data memory module: it is for the skilled action message of veteran doctor and the accurate dynamics information of prestoring in data base.The veteran doctor of prior recording performs dynamics information during corneal graft, and learner, by playing these recorded informations, experiences the size of the power that should apply in each operates, to reach the destination of study.
A kind of virtual cornea surgery training system based on force feedback equipment, it is characterised in that described training system also includes:
Power comparison module: action message and the dynamics information of operator's practical operation are recorded by force feedback equipment, and accurately compare with the information prestored in data base, by weight assignment and work quantity evaluation, the each step showed is given a mark, finally draw comprehensive grading, thus the operation to learner proposes to evaluate and reasonably suggestion.
A kind of virtual cornea surgery training system based on force feedback equipment, it is characterised in that described impact force feedback module includes with lower unit:
Collision detection unit: intersect with the triangular plate place plane of eyeball phantom when the coordinate that described sham operated apparatus is corresponding maps, i.e. sham operated apparatus and operated object collides；
Force feedback unit: after colliding, according to resistance coefficient, the movement velocity of sham operated apparatus and the power of this point in the action time of this point, determines that force feedback equipment should feed back to the dynamics size of operator, and feeds back to operator；This power size is reacted on triangle model simultaneously, according to the flexible strategy on each triangular plate summit, calculate the size of the displacement that this triangular plate should occur, update triangular plate position.
A kind of virtual cornea surgery training system based on force feedback equipment, it is characterised in that described force feedback unit is when eyeball phantom and sham operated apparatus collide, and the size of the power of generation calculates process and is:
Regarding the operation object eyeball phantom of virtual operation as body spring, when a little colliding with sham operated apparatus on it, can be used as body spring and deform upon, contact point is subjected to displacement, and between eyeball phantom and sham operated apparatus, the size of power is calculated as:
Wherein: k' and k'dThe coefficient of elasticity of corresponding body spring and damped coefficient, occurrence can be obtained by experiment；
Δ x is the distance to go of body spring, determines the direction of power；
V is the movement velocity of movable end on body spring.
A kind of virtual cornea surgery training system based on force feedback equipment, it is characterized in that, described force feedback unit is after eyeball phantom and sham operated apparatus collide, and force feedback equipment feeds back to the size calculating process of the power of operator and is:
F=-μ V-λ X
Wherein: μ and λ is viscosity and coefficient of elasticity；
When V and X is touching eyeball phantom, the speed of sham operated apparatus and depth of cut.
A kind of virtual cornea surgery training system based on force feedback equipment, it is characterized in that, described force feedback unit is when eyeball phantom and sham operated apparatus collide, and the displacement computing formula that the triangle model of composition eyeball phantom occurs after by the effect of power is:
Wherein: Δ xi(t)Represent the displacement of each end points on triangular plate；
miIt it is the quality of triangular plate；
Δ t is the time that power acts on triangular plate；
V is the movement velocity of movable end on body spring.
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