CN218899676U

CN218899676U - Operation simulation equipment based on virtual reality

Info

Publication number: CN218899676U
Application number: CN202222159445.7U
Authority: CN
Inventors: 门英培; 禹浪
Original assignee: Hangzhou Shengxing Medical Technology Co ltd
Current assignee: Hangzhou Shengxing Medical Technology Co ltd
Priority date: 2022-08-17
Filing date: 2022-08-17
Publication date: 2023-04-25
Anticipated expiration: 2032-08-17

Abstract

The utility model belongs to the technical field of medical equipment, and discloses virtual reality-based operation simulation equipment, which comprises an integrated mobile workstation, an optical navigation camera, a traceable surgical instrument and mixed reality head-mounted equipment, wherein the integrated mobile workstation is respectively and electrically connected with the mixed reality head-mounted equipment, the traceable surgical instrument and the optical navigation camera, the optical navigation camera tracks the surgical instrument in real time and transmits data to the mobile workstation, and the integrated mobile workstation carries out virtual and real registration on a virtual three-dimensional model of focus tissues and the traceable surgical instrument which is photographed in reality and sends registered image data to the mixed reality head-mounted equipment for display. According to the surgical simulation device, the virtual three-dimensional model of the focus tissue and the real-time image of the surgical instrument are displayed on the head-mounted device at the same time, and a user can perform preoperative simulation operation on the virtual three-dimensional model of the focus tissue by operating the real surgical instrument, so that preoperative operation exercise is closer to real operation.

Description

Operation simulation equipment based on virtual reality

Technical Field

The utility model belongs to the technical field of medical equipment, and particularly relates to virtual reality-based operation simulation equipment.

Background

In recent years, the development of virtual reality technology is vigorous, so that in various fields of application of the virtual reality technology, in traditional medical operations, doctors can imagine the three-dimensional position of a focus in the brain of the doctors according to diagnostic experience through X-ray Computed Tomography (CT) or Magnetic Resonance (MRI) images, and therefore the focus position cannot be accurately positioned before the operation; in surgery, it is also very difficult to find a short way to the lesion and deep into the lesion, how to avoid important functional areas, nerves and blood vessels. As is well known, the chance of doing the operation is only once, the success and failure of the operation directly relate to the death of the patient, in order to improve the success rate of the operation, the current means can only be that doctors continuously observe two-dimensional focus tissue images before the operation, continuously and repeatedly exercise in the brain, and the rest can only be that the doctors randomly exercise by virtue of experience accumulated for many years in the operation process, and no device at all can be used for carrying out real simulation exercise specially customized for each operation before the operation.

At present, some devices can generate a three-dimensional model of focus tissues of a patient according to CT scanning data of the patient, but doctors can only observe the three-dimensional model of focus tissues of the patient through VR glasses, and cannot simulate the combination operation of virtual and real operation of holding surgical instruments by an actual doctor to perform exercise closest to real operation.

To sum up, the problems of the prior art are: the existing operation doctor can only think of brain or observe the three-dimensional model of the focus tissue of the patient through VR glasses, and can not simulate the simulation operation of combining the virtual and the reality by holding the operation instrument by the doctor in the actual process, so as to perform the exercise closest to the actual operation.

Disclosure of Invention

Aiming at the problems existing in the prior art, the utility model provides operation simulation equipment based on virtual reality, which comprises an integrated mobile workstation, an optical navigation camera, a traceable surgical instrument and mixed reality headset equipment, wherein the integrated mobile workstation is respectively and electrically connected with the mixed reality headset equipment, the traceable surgical instrument and the optical navigation camera, the optical navigation camera is used for tracking the traceable surgical instrument in real time and transmitting data to the mobile workstation, the integrated mobile workstation carries out virtual and real registration on a virtual three-dimensional model of focus tissues of a patient and the traceable surgical instrument shot in reality and sends the registered image data to the mixed reality headset equipment, and the mixed reality headset equipment carries out final image display.

Further, an optical ball is mounted on the trackable surgical instrument.

Further, a sensing device is arranged on the tracked surgical instrument.

Further, the mobile workstation includes the base, the bottom of base is equipped with the pulley, the computer sets up on the base, the rear side of computer is provided with the support, and the top of support is fixed with optical navigation camera, optical navigation camera passes through the wired net gape and is connected with the computer.

Further, a fixing frame is arranged on the surgical instrument which can be tracked, three independent branches are respectively arranged on the fixing frame, and an optical ball is arranged at the end point of each branch.

Further, the mixed reality headset can also be connected with the integrated mobile workstation in a wireless transmission mode.

Further, the support includes support one and support two, be fixed with the display of computer on the support one, support two is connected with support one to the one end of connecting axle is equipped with locking knob.

By combining all the technical schemes, the utility model has the advantages and positive effects that:

according to the virtual reality-based operation simulation device, the virtual three-dimensional model of the focus tissue of the patient and the real-time image of the surgical instrument are displayed on the head-mounted device, and the user can complete corresponding interactive operation on the display window of the head-mounted device through the sensing device of the surgical instrument, so that the user can conduct preoperative simulation operation and planning of an operation path on the virtual three-dimensional model of the focus tissue of the patient through operating the real operation device, and preoperative operation is closer to real operation.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly explain the drawings needed in the embodiments of the present application, and it is obvious that the drawings described below are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of a connection principle of a virtual reality-based surgical simulation device according to an embodiment of the present utility model;

FIG. 2 is a schematic diagram of an integrated mobile workstation according to an embodiment of the present utility model;

FIG. 3 is a schematic view of a structure of a surgical instrument that may be tracked provided in an embodiment of the present utility model;

FIG. 4 isbase:Sub>A schematic view ofbase:Sub>A partial enlarged structure ofbase:Sub>A stent according to an embodiment of the present utility model;

in the figure: 1. an integrated mobile workstation; 2. an optical navigation camera; 3. surgical instruments can be tracked; 4. a mixed reality headset; 11. a base; 12. a pulley; 13. a computer; 14. a bracket; 31. an optical ball; 32. a sensing device; 33. a fixing frame; 141. a first bracket; 142. a second bracket; 143. locking the knob.

Detailed Description

The present utility model will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.

As shown in fig. 1-4, the utility model provides a virtual reality-based operation simulation device, which comprises an integrated mobile workstation 1, an optical navigation camera 2, a traceable surgical instrument 3 and a mixed reality head-mounted device 4, wherein the integrated mobile workstation 1 is respectively and electrically connected with the mixed reality head-mounted device 4, the traceable surgical instrument 3 and the optical navigation camera 2, an optical ball 31 and a sensing device 32 are arranged on the traceable surgical instrument 3, the integrated mobile workstation 1 comprises a base 11, the bottom end of the base 11 is provided with a pulley 12, a computer 13 is arranged on the base 11, the rear side of the computer 13 is provided with a bracket 14, the optical navigation camera 2 is fixed at the top end of the bracket 14, and the optical navigation camera 2 and the sensing device 32 of the traceable surgical instrument 3 are electrically connected with the computer 13 through a wired network port;

the optical navigation camera 2 performs real-time tracking and acquisition of the position and the image of the surgical instrument through the optical ball 31 for tracking the surgical instrument, in order to make the tracking of the optical navigation camera 2 more stable, the surgical instrument which can be tracked is provided with a fixing frame 33, the fixing frame 33 is respectively provided with three independent branches, and the end point of each branch is provided with the optical ball 31, so that even if one optical ball 31 is blocked, the optical navigation camera 2 can perform real-time tracking and acquisition of the surgical instrument through other optical balls 31; the bracket comprises a bracket I141 and a bracket II 142, the bracket 14I is fixedly provided with a display of the computer 13, the bracket II 142 is connected with the bracket I141 in a shaft manner, one end of the connecting shaft is provided with a locking knob 143, and the optical navigation camera 2 is fixed at the top end of the bracket II 142, so that the angle of the optical navigation camera 2 can be adjusted more conveniently, and the optical navigation camera 2 is locked and fixed through the locking knob 143 after the angle is adjusted.

In a preferred embodiment, the mixed reality headset 4 can be connected to the computer 13 by wire, and for convenience of operation the mixed reality headset 4 can also be connected to the computer 13 of the integrated mobile workstation 1 by wireless transmission.

The working principle of the device is described in detail below with reference to the embodiments:

firstly, generating a three-dimensional virtual model of focus tissue of a patient by CT scanning data of the focus tissue of the patient, and leading the three-dimensional virtual model into a computer 13, wherein the three-dimensional virtual model of focus tissue is generated according to the CT scanning data of the focus tissue of the patient, which is the prior art, and detailed description is omitted herein; the optical navigation camera 2 acquires images and position information of the tracked surgical instrument 3 in real time through the real-time tracking optical ball 31 and transmits the images and the position information to the computer 13, the tracked surgical instrument is provided with a sensing device 32, the sensing device 32 acquires action information of a user operating the surgical instrument and transmits the action information to the computer 13, and the computer 13 registers a three-dimensional virtual model of focus tissue of a patient and acquired real-time information of the tracked surgical instrument 3 in real time and transmits the real-time registered real-time information to the mixed reality headset 4 for real-time synchronous dynamic display; when the mixed reality headset 4 is used, a user wears the mixed reality headset 4, the handheld real operation can be carried out by tracking the surgical instrument 3, the surgical action of a doctor can be acquired by the sensing device 32 and the optical navigation camera 2 and transmitted to the computer 13, the computer 13 carries out corresponding instruction operation on the surgical action of the doctor, and corresponding display is formed on the display window of the mixed reality headset 4, for example, the user actually operates the surgical instrument 3 to carry out excision action on the three-dimensional model of the focus tissue of a patient, the excision action of the user actually operates the surgical instrument can be transmitted to the computer 13 under the information acquisition of the optical navigation camera 2 and the sensing device 32, the computer 13 carries out real-time processing and transmits the mixed reality headset 4, the user can clearly see the whole process image of the surgical instrument cutting the three-dimensional model of the focus tissue through the display window of the mixed reality headset 4, so that the user can simulate the real operation closest to the user, the surgical instrument operated by the user is the real operation, the surgical instrument operated by the user is the same, but the focus tissue of the patient is the three-dimensional virtual model, the real operation is carried out through the real operation on the virtual three-dimensional model, the real operation is carried out on the three-dimensional model, the information is acquired by the information acquisition of the surgical instrument, the information is transmitted to the computer 13, and the mixed reality is transmitted to the user can see the real operation image through the real operation image, and the real operation image can be carried out by the user.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present utility model are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.

The foregoing is merely illustrative of specific embodiments of the present utility model, and the scope of the utility model is not limited thereto, but any modifications, equivalents, improvements and alternatives falling within the spirit and principles of the present utility model will be apparent to those skilled in the art within the scope of the present utility model.

Claims

1. The operation simulation device based on virtual reality is characterized by comprising an integrated mobile workstation, an optical navigation camera, a traceable surgical instrument and a mixed reality headset, wherein the integrated mobile workstation is respectively and electrically connected with the mixed reality headset, the traceable surgical instrument and the optical navigation camera, the optical navigation camera is used for tracking the traceable surgical instrument in reality in real time and transmitting data to the mobile workstation, the integrated mobile workstation registers a virtual three-dimensional model of focus tissues of a patient and the traceable surgical instrument shot in reality virtually and realistically and transmits registered image data to the mixed reality headset, and the mixed reality headset displays a final image;

an optical ball is arranged on the surgical instrument which can be tracked;

the tracked surgical instrument is provided with a sensing device, and the sensing device is electrically connected with the integrated mobile workstation.

2. The virtual reality-based surgical simulation apparatus of claim 1, wherein the mobile workstation comprises a base, a pulley is arranged at the bottom end of the base, a computer is arranged on the base, a bracket is arranged at the rear side of the computer, an optical navigation camera is fixed at the top end of the bracket, and the optical navigation camera is connected with the computer through a wired network port.

3. The virtual reality-based surgical simulation apparatus of claim 2, wherein the trackable surgical instrument is provided with a holder, the holder being provided with three independent branches, each branch having an optical ball mounted at an end point thereof.

4. The virtual reality-based surgical simulation device of claim 1, wherein the mixed reality headset is also connectable to the integrated mobile workstation by wireless transmission.

5. The virtual reality-based surgical simulation apparatus of claim 2, wherein the bracket includes a bracket one to which the display of the computer is fixed and a bracket two to which the shaft is connected, and one end of the connecting shaft is provided with a locking knob.